Package com.irurueta.navigation.indoor.fingerprint

Class NonLinearFingerprintPositionAndRadioSourceEstimator<P extends com.irurueta.geometry.Point<?>>

java.lang.Object

com.irurueta.navigation.indoor.fingerprint.BaseFingerprintPositionAndRadioSourceEstimator<P,FingerprintPositionAndRadioSourceEstimatorListener<P>>

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

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

Direct Known Subclasses:

NonLinearFingerprintPositionAndRadioSourceEstimator2D, NonLinearFingerprintPositionAndRadioSourceEstimator3D

public abstract class NonLinearFingerprintPositionAndRadioSourceEstimator<P extends com.irurueta.geometry.Point<?>>
extends FingerprintPositionAndRadioSourceEstimator<P>

Base class for position and radio source estimators based only on located fingerprints containing RSSI readings. All implementations of this class estimate the position of a new fingerprint and the position of all radio sources associated to fingerprints whose location is known. All implementations solve the problem in a non-linear way using Levenberg-Marquardt algorithm.

Field Summary

Fields

Modifier and Type	Field	Description
private double	chiSq	Estimated chi square value.
private com.irurueta.algebra.Matrix	covariance	Estimated covariance matrix for estimated non-located fingerprint position and estimated located radio sources position.
static final boolean	DEFAULT_PROPAGATE_FINGERPRINT_POSITION_COVARIANCE	Indicates that by default covariance of closest fingerprint position must be propagated into measured RSSI reading variance at unknown location.
static final boolean	DEFAULT_PROPAGATE_FINGERPRINT_RSSI_STANDARD_DEVIATION	Indicates that by default measured RSSI standard deviation of closest fingerprint must be propagated into measured RSSI reading variance at unknown location.
static final boolean	DEFAULT_PROPAGATE_PATHLOSS_EXPONENT_STANDARD_DEVIATION	Indicates that by default path-loss exponent standard deviation of radio source must be propagated into measured RSSI reading variance at unknown location.
static final boolean	DEFAULT_PROPAGATE_RADIO_SOURCE_POSITION_COVARIANCE	Indicates that by default covariance of radio source position must be propagated into measured RSSI reading variance at unknown location.
private com.irurueta.algebra.Matrix	estimatedPositionCovariance	Covariance of estimated position for non-located fingerprint.
static final double	FALLBACK_RSSI_STANDARD_DEVIATION	Default RSSI standard deviation assumed for provided fingerprints as a fallback when none can be determined.
private double	fallbackRssiStandardDeviation	RSSI standard deviation fallback value to use when none can be determined from provided readings.
private final com.irurueta.numerical.fitting.LevenbergMarquardtMultiDimensionFitter	fitter	Levenberg-Marquardt fitter to find a non-linear solution.
private P	initialPosition	Initial position to start the estimation.
protected List<? extends RadioSourceLocated<P>>	mInitialLocatedSources	Initial sources whose location is known.
private boolean	propagateFingerprintPositionCovariance	Indicates whether covariance of closest fingerprint position must be propagated into measured RSSI reading variance at unknown location.
private boolean	propagateFingerprintRssiStandardDeviation	Indicates whether measured RSSI standard deviation of closest fingerprint must be propagated into measured RSSI reading variance at unknown location.
private boolean	propagatePathlossExponentStandardDeviation	Indicates whether path-loss exponent standard deviation of radio source must be propagated into measured RSSI reading variance at unknown location.
private boolean	propagateRadioSourcePositionCovariance	Indicates whether covariance of radio source position must be propagated into measured RSSI reading variance at unknown location.
private static final double	TINY	Small value to be used as machine precision.
protected boolean	useSourcesPathLossExponentWhenAvailable	Indicates whether path loss exponent of provided sources must be used when available (if true), or if fallback path loss exponent must be used instead.

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

useNoMeanNearestFingerprintFinder

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

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

Constructor Summary

Constructors

Modifier	Constructor	Description
protected	NonLinearFingerprintPositionAndRadioSourceEstimator()	Constructor.
protected	NonLinearFingerprintPositionAndRadioSourceEstimator(FingerprintPositionAndRadioSourceEstimatorListener<P> listener)	Constructor.
protected	NonLinearFingerprintPositionAndRadioSourceEstimator(List<? extends RssiFingerprintLocated<? extends RadioSource,? extends RssiReading<? extends RadioSource>,P>> locatedFingerprints, RssiFingerprint<? extends RadioSource,? extends RssiReading<? extends RadioSource>> fingerprint)	Constructor.
protected	NonLinearFingerprintPositionAndRadioSourceEstimator(List<? extends RssiFingerprintLocated<? extends RadioSource,? extends RssiReading<? extends RadioSource>,P>> locatedFingerprints, RssiFingerprint<? extends RadioSource,? extends RssiReading<? extends RadioSource>> fingerprint, FingerprintPositionAndRadioSourceEstimatorListener<P> listener)	Constructor.
protected	NonLinearFingerprintPositionAndRadioSourceEstimator(List<? extends RssiFingerprintLocated<? extends RadioSource,? extends RssiReading<? extends RadioSource>,P>> locatedFingerprints, RssiFingerprint<? extends RadioSource,? extends RssiReading<? extends RadioSource>> fingerprint, List<? extends RadioSourceLocated<P>> initialLocatedSources)	Constructor.
protected	NonLinearFingerprintPositionAndRadioSourceEstimator(List<? extends RssiFingerprintLocated<? extends RadioSource,? extends RssiReading<? extends RadioSource>,P>> locatedFingerprints, RssiFingerprint<? extends RadioSource,? extends RssiReading<? extends RadioSource>> fingerprint, List<? extends RadioSourceLocated<P>> initialLocatedSources, FingerprintPositionAndRadioSourceEstimatorListener<P> listener)	Constructor.
protected	NonLinearFingerprintPositionAndRadioSourceEstimator(List<? extends RssiFingerprintLocated<? extends RadioSource,? extends RssiReading<? extends RadioSource>,P>> locatedFingerprints, RssiFingerprint<? extends RadioSource,? extends RssiReading<? extends RadioSource>> fingerprint, P initialPosition)	Constructor.
protected	NonLinearFingerprintPositionAndRadioSourceEstimator(List<? extends RssiFingerprintLocated<? extends RadioSource,? extends RssiReading<? extends RadioSource>,P>> locatedFingerprints, RssiFingerprint<? extends RadioSource,? extends RssiReading<? extends RadioSource>> fingerprint, P initialPosition, FingerprintPositionAndRadioSourceEstimatorListener<P> listener)	Constructor.
protected	NonLinearFingerprintPositionAndRadioSourceEstimator(List<? extends RssiFingerprintLocated<? extends RadioSource,? extends RssiReading<? extends RadioSource>,P>> locatedFingerprints, RssiFingerprint<? extends RadioSource,? extends RssiReading<? extends RadioSource>> fingerprint, P initialPosition, List<? extends RadioSourceLocated<P>> initialLocatedSources)	Constructor.
protected	NonLinearFingerprintPositionAndRadioSourceEstimator(List<? extends RssiFingerprintLocated<? extends RadioSource,? extends RssiReading<? extends RadioSource>,P>> locatedFingerprints, RssiFingerprint<? extends RadioSource,? extends RssiReading<? extends RadioSource>> fingerprint, P initialPosition, List<? extends RadioSourceLocated<P>> initialLocatedSources, FingerprintPositionAndRadioSourceEstimatorListener<P> listener)	Constructor.

Method Summary

Modifier and Type	Method	Description
private void	buildData(List<Double> allPowerDiffs, List<P> allFingerprintPositions, List<P> allInitialSourcesPositions, List<RadioSource> allSourcesToBeEstimated, List<Integer> allSourcesIndices, List<Double> allPathLossExponents, List<Double> allStandardDeviations, P nearestFingerprintsCentroid)	Builds data required to solve the problem.
private RadioSourceLocated<P>	createRadioSource(RadioSource source, P sourcePosition, com.irurueta.algebra.Matrix sourceCovariance)	Creates a located radio source from provided radio source, position and covariance.
void	estimate()	Estimates position and radio sources based on provided located radio sources and readings of such radio sources at an unknown location.
double	getChiSq()	Gets estimated chi square value.
com.irurueta.algebra.Matrix	getCovariance()	Gets estimated covariance matrix for estimated non-located fingerprint position and estimated located radio sources position.
com.irurueta.algebra.Matrix	getEstimatedPositionCovariance()	Gets covariance of estimated position for non-located fingerprint.
double	getFallbackRssiStandardDeviation()	Gets RSSI standard deviation fallback value to use when none can be determined from provided readings.
List<RadioSourceLocated<P>>	getInitialLocatedSources()	Gets initial radio sources whose location is known.
P	getInitialPosition()	Gets initial position to start the solving algorithm.
boolean	getUseSourcesPathLossExponentWhenAvailable()	Indicates whether path loss exponent of provided sources must be used when available (if true), or if fallback path loss exponent must be used instead.
boolean	isFingerprintPositionCovariancePropagated()	Indicates whether covariance of closest fingerprint position must be propagated into measured RSSI reading variance at unknown location.
boolean	isFingerprintRssiStandardDeviationPropagated()	Indicates whether measured RSSI standard deviation of closest fingerprint must be propagated into measured RSSI reading variance at unknown location.
boolean	isPathlossExponentStandardDeviationPropagated()	Indicates whether path-loss exponent standard deviation of radio source must be propagated into measured RSSI reading variance at unknown location.
boolean	isRadioSourcePositionCovariancePropagated()	Indicates whether covariance of radio source position must be propagated into measured RSSI reading variance at unknown location.
protected abstract Double	propagateVariances(double pathlossExponent, P fingerprintPosition, P radioSourcePosition, P estimatedPosition, Double pathlossExponentVariance, com.irurueta.algebra.Matrix fingerprintPositionCovariance, com.irurueta.algebra.Matrix radioSourcePositionCovariance)	Propagates provided variances into RSSI differences.
void	setFallbackRssiStandardDeviation(double fallbackRssiStandardDeviation)	Sets RSSI standard deviation fallback value to use when none can be determined from provided readings.
void	setFingerprintPositionCovariancePropagated(boolean propagateFingerprintPositionCovariance)	Specifies whether covariance of closest fingerprint position must be propagated into measured RSSI reading variance at unknown location.
void	setFingerprintRssiStandardDeviationPropagated(boolean propagateFingerprintRssiStandardDeviation)	Specifies whether measured RSSI standard deviation of closest fingerprint must be propagated into measured RSSI reading variance at unknown location.
void	setInitialLocatedSources(List<? extends RadioSourceLocated<P>> initialLocatedSources)	Sets initial radio sources whose location is known.
void	setInitialPosition(P initialPosition)	Sets initial position to start the solving algorithm.
void	setPathlossExponentStandardDeviationPropagated(boolean propagatePathlossExponentStandardDeviation)	Specifies whether path-loss exponent standard deviation of radio source must be propagated into measured RSSI reading variance at unknown location.
void	setRadioSourcePositionCovariancePropagated(boolean propagateRadioSourcePositionCovariance)	Specifies whether covariance of radio source position must be propagated into measured RSSI reading variance at unknown location.
private List<RadioSource>	setupFitter()	Setups fitter to solve positions.
void	setUseSourcesPathLossExponentWhenAvailable(boolean useSourcesPathLossExponentWhenAvailable)	Specifies whether path loss exponent of provided sources must be used when available (if true), or if fallback path loss exponent must be used instead.
private int	totalReadingsForSource(RadioSource source, List<RssiFingerprintLocated<RadioSource,RssiReading<RadioSource>,P>> fingerprints, P centroid)	Gets the total number of readings associated to provided radio source.

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

getUseNoMeanNearestFingerprintFinder, setUseNoMeanNearestFingerprintFinder

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

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

Methods inherited from class java.lang.Object

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

Field Details

FALLBACK_RSSI_STANDARD_DEVIATION

public static final double FALLBACK_RSSI_STANDARD_DEVIATION

Default RSSI standard deviation assumed for provided fingerprints as a fallback when none can be determined.

See Also:

• Constant Field Values

DEFAULT_PROPAGATE_FINGERPRINT_RSSI_STANDARD_DEVIATION

public static final boolean DEFAULT_PROPAGATE_FINGERPRINT_RSSI_STANDARD_DEVIATION

Indicates that by default measured RSSI standard deviation of closest fingerprint must be propagated into measured RSSI reading variance at unknown location.

See Also:

• Constant Field Values

DEFAULT_PROPAGATE_PATHLOSS_EXPONENT_STANDARD_DEVIATION

public static final boolean DEFAULT_PROPAGATE_PATHLOSS_EXPONENT_STANDARD_DEVIATION

Indicates that by default path-loss exponent standard deviation of radio source must be propagated into measured RSSI reading variance at unknown location.

See Also:

• Constant Field Values

DEFAULT_PROPAGATE_FINGERPRINT_POSITION_COVARIANCE

public static final boolean DEFAULT_PROPAGATE_FINGERPRINT_POSITION_COVARIANCE

Indicates that by default covariance of closest fingerprint position must be propagated into measured RSSI reading variance at unknown location.

See Also:

• Constant Field Values

DEFAULT_PROPAGATE_RADIO_SOURCE_POSITION_COVARIANCE

public static final boolean DEFAULT_PROPAGATE_RADIO_SOURCE_POSITION_COVARIANCE

Indicates that by default covariance of radio source position must be propagated into measured RSSI reading variance at unknown location.

See Also:

• Constant Field Values

TINY

private static final double TINY

Small value to be used as machine precision.

See Also:

• Constant Field Values

mInitialLocatedSources

protected List<? extends RadioSourceLocated<P extends com.irurueta.geometry.Point<?>>> mInitialLocatedSources

Initial sources whose location is known. If provided, their location will be used as initial values, but after executing this estimator they will be refined.

initialPosition

private P extends com.irurueta.geometry.Point<?> initialPosition

Initial position to start the estimation. This should be a value close to the expected solution. If no value is provided, the average position among all selected nearest located fingerprints will be used.

useSourcesPathLossExponentWhenAvailable

protected boolean useSourcesPathLossExponentWhenAvailable

Indicates whether path loss exponent of provided sources must be used when available (if true), or if fallback path loss exponent must be used instead.

fallbackRssiStandardDeviation

private double fallbackRssiStandardDeviation

RSSI standard deviation fallback value to use when none can be determined from provided readings. This fallback value is only used if no variance is propagated or the resulting value is too small to allow convergence to a solution.

propagateFingerprintRssiStandardDeviation

private boolean propagateFingerprintRssiStandardDeviation

Indicates whether measured RSSI standard deviation of closest fingerprint must be propagated into measured RSSI reading variance at unknown location.

propagatePathlossExponentStandardDeviation

private boolean propagatePathlossExponentStandardDeviation

Indicates whether path-loss exponent standard deviation of radio source must be propagated into measured RSSI reading variance at unknown location.

propagateFingerprintPositionCovariance

private boolean propagateFingerprintPositionCovariance

Indicates whether covariance of closest fingerprint position must be propagated into measured RSSI reading variance at unknown location.

propagateRadioSourcePositionCovariance

private boolean propagateRadioSourcePositionCovariance

Indicates whether covariance of radio source position must be propagated into measured RSSI reading variance at unknown location.

fitter

private final com.irurueta.numerical.fitting.LevenbergMarquardtMultiDimensionFitter fitter

Levenberg-Marquardt fitter to find a non-linear solution.

covariance

private com.irurueta.algebra.Matrix covariance

Estimated covariance matrix for estimated non-located fingerprint position and estimated located radio sources position.

estimatedPositionCovariance

private com.irurueta.algebra.Matrix estimatedPositionCovariance

Covariance of estimated position for non-located fingerprint.

chiSq

private double chiSq

Estimated chi square value.

Constructor Details

NonLinearFingerprintPositionAndRadioSourceEstimator

protected NonLinearFingerprintPositionAndRadioSourceEstimator()

Constructor.

NonLinearFingerprintPositionAndRadioSourceEstimator

protected NonLinearFingerprintPositionAndRadioSourceEstimator(FingerprintPositionAndRadioSourceEstimatorListener<P> listener)

Constructor.

Parameters:

listener - listener in charge of handling events.

NonLinearFingerprintPositionAndRadioSourceEstimator

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

Constructor.

Parameters:

locatedFingerprints - located fingerprints containing RSSI readings.

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

Throws:

IllegalArgumentException - if either non located fingerprint or located fingerprints are null.

NonLinearFingerprintPositionAndRadioSourceEstimator

protected NonLinearFingerprintPositionAndRadioSourceEstimator(List<? extends RssiFingerprintLocated<? extends RadioSource,? extends RssiReading<? extends RadioSource>,P>> locatedFingerprints,
 RssiFingerprint<? extends RadioSource,? extends RssiReading<? extends RadioSource>> fingerprint,
 FingerprintPositionAndRadioSourceEstimatorListener<P> listener)

Constructor.

Parameters:

locatedFingerprints - located fingerprints containing RSSI readings.

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

listener - listener in charge of handling events.

Throws:

IllegalArgumentException - if either non located fingerprint or located fingerprints are null.

NonLinearFingerprintPositionAndRadioSourceEstimator

protected NonLinearFingerprintPositionAndRadioSourceEstimator(List<? extends RssiFingerprintLocated<? extends RadioSource,? extends RssiReading<? extends RadioSource>,P>> locatedFingerprints,
 RssiFingerprint<? extends RadioSource,? extends RssiReading<? extends RadioSource>> fingerprint,
 P initialPosition)

Constructor.

Parameters:

locatedFingerprints - located fingerprints containing RSSI readings.

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

initialPosition - initial position to be assumed on non located fingerprint or null if unknown.

Throws:

IllegalArgumentException - if either non located fingerprint or located fingerprints are null.

NonLinearFingerprintPositionAndRadioSourceEstimator

protected NonLinearFingerprintPositionAndRadioSourceEstimator(List<? extends RssiFingerprintLocated<? extends RadioSource,? extends RssiReading<? extends RadioSource>,P>> locatedFingerprints,
 RssiFingerprint<? extends RadioSource,? extends RssiReading<? extends RadioSource>> fingerprint,
 P initialPosition,
 FingerprintPositionAndRadioSourceEstimatorListener<P> listener)

Constructor.

Parameters:

locatedFingerprints - located fingerprints containing RSSI readings.

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

initialPosition - initial position to be assumed on non located fingerprint or null if unknown.

listener - listener in charge of handling events.

Throws:

IllegalArgumentException - if either non located fingerprint or located fingerprints are null.

NonLinearFingerprintPositionAndRadioSourceEstimator

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

Constructor.

Parameters:

locatedFingerprints - located fingerprints containing RSSI readings.

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

initialLocatedSources - sources containing initial location to be refined or null if unknown.

Throws:

IllegalArgumentException - if either non located fingerprint or located fingerprints are null.

NonLinearFingerprintPositionAndRadioSourceEstimator

protected NonLinearFingerprintPositionAndRadioSourceEstimator(List<? extends RssiFingerprintLocated<? extends RadioSource,? extends RssiReading<? extends RadioSource>,P>> locatedFingerprints,
 RssiFingerprint<? extends RadioSource,? extends RssiReading<? extends RadioSource>> fingerprint,
 List<? extends RadioSourceLocated<P>> initialLocatedSources,
 FingerprintPositionAndRadioSourceEstimatorListener<P> listener)

Constructor.

Parameters:

locatedFingerprints - located fingerprints containing RSSI readings.

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

initialLocatedSources - sources containing initial location to be refined or null if unknown.

listener - listener in charge of handling events.

Throws:

IllegalArgumentException - if either non located fingerprint or located fingerprints are null.

NonLinearFingerprintPositionAndRadioSourceEstimator

protected NonLinearFingerprintPositionAndRadioSourceEstimator(List<? extends RssiFingerprintLocated<? extends RadioSource,? extends RssiReading<? extends RadioSource>,P>> locatedFingerprints,
 RssiFingerprint<? extends RadioSource,? extends RssiReading<? extends RadioSource>> fingerprint,
 P initialPosition,
 List<? extends RadioSourceLocated<P>> initialLocatedSources)

Constructor.

Parameters:

locatedFingerprints - located fingerprints containing RSSI readings.

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

initialPosition - initial position to be assumed on non located fingerprint or null if unknown.

initialLocatedSources - sources containing initial location to be refined or null if unknown.

Throws:

IllegalArgumentException - if either non located fingerprint or located fingerprints are null.

NonLinearFingerprintPositionAndRadioSourceEstimator

protected NonLinearFingerprintPositionAndRadioSourceEstimator(List<? extends RssiFingerprintLocated<? extends RadioSource,? extends RssiReading<? extends RadioSource>,P>> locatedFingerprints,
 RssiFingerprint<? extends RadioSource,? extends RssiReading<? extends RadioSource>> fingerprint,
 P initialPosition,
 List<? extends RadioSourceLocated<P>> initialLocatedSources,
 FingerprintPositionAndRadioSourceEstimatorListener<P> listener)

Constructor.

Parameters:

locatedFingerprints - located fingerprints containing RSSI readings.

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

initialPosition - initial position to be assumed on non located fingerprint or null if unknown.

initialLocatedSources - sources containing initial location to be refined or null if unknown.

listener - listener in charge of handling events.

Throws:

IllegalArgumentException - if either non located fingerprint or located fingerprints are null.

Method Details

getInitialLocatedSources

public List<RadioSourceLocated<P>> getInitialLocatedSources()

Gets initial radio sources whose location is known.

Returns:

initial radio sources.

setInitialLocatedSources

public void setInitialLocatedSources(List<? extends RadioSourceLocated<P>> initialLocatedSources)
                              throws com.irurueta.navigation.LockedException

Sets initial radio sources whose location is known.

Parameters:

initialLocatedSources - initial radio sources.

Throws:

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

getInitialPosition

public P getInitialPosition()

Gets initial position to start the solving algorithm. This should be a value close to the expected solution. If no value is provided, the average position among all selected nearest located fingerprints will be used.

Returns:

initial position to start the solving algorithm or null.

setInitialPosition

public void setInitialPosition(P initialPosition)
                        throws com.irurueta.navigation.LockedException

Sets initial position to start the solving algorithm. This should be a value close to the expected solution. If no value is provided, the average position among all selected nearest located fingerprints will be used.

Parameters:

initialPosition - initial position to start the solving algorithm or null.

Throws:

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

getCovariance

public com.irurueta.algebra.Matrix getCovariance()

Gets estimated covariance matrix for estimated non-located fingerprint position and estimated located radio sources position.

Returns:

estimated covariance matrix for estimated non-located fingerprint position and estimated located radio sources position.

getEstimatedPositionCovariance

public com.irurueta.algebra.Matrix getEstimatedPositionCovariance()

Gets covariance of estimated position for non-located fingerprint.

Returns:

covariance of estimated position for non-located fingerprint.

getChiSq

public double getChiSq()

Gets estimated chi square value.

Returns:

estimated chi square value.

getUseSourcesPathLossExponentWhenAvailable

public boolean getUseSourcesPathLossExponentWhenAvailable()

Indicates whether path loss exponent of provided sources must be used when available (if true), or if fallback path loss exponent must be used instead.

Returns:

true to use path loss exponent of provided sources when available, false otherwise.

setUseSourcesPathLossExponentWhenAvailable

public void setUseSourcesPathLossExponentWhenAvailable(boolean useSourcesPathLossExponentWhenAvailable)
                                                throws com.irurueta.navigation.LockedException

Specifies whether path loss exponent of provided sources must be used when available (if true), or if fallback path loss exponent must be used instead.

Parameters:

useSourcesPathLossExponentWhenAvailable - true to use path loss exponent of provided sources when available, false otherwise.

Throws:

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

getFallbackRssiStandardDeviation

public double getFallbackRssiStandardDeviation()

Gets RSSI standard deviation fallback value to use when none can be determined from provided readings.

Returns:

RSSI standard deviation fallback.

setFallbackRssiStandardDeviation

public void setFallbackRssiStandardDeviation(double fallbackRssiStandardDeviation)
                                      throws com.irurueta.navigation.LockedException

Sets RSSI standard deviation fallback value to use when none can be determined from provided readings.

Parameters:

fallbackRssiStandardDeviation - RSSI standard deviation fallback

Throws:

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

IllegalArgumentException - if provided value is smaller than TINY.

isFingerprintRssiStandardDeviationPropagated

public boolean isFingerprintRssiStandardDeviationPropagated()

Indicates whether measured RSSI standard deviation of closest fingerprint must be propagated into measured RSSI reading variance at unknown location.

Returns:

true to propagate RSSI standard deviation of closest fingerprint, false otherwise.

setFingerprintRssiStandardDeviationPropagated

public void setFingerprintRssiStandardDeviationPropagated(boolean propagateFingerprintRssiStandardDeviation)
                                                   throws com.irurueta.navigation.LockedException

Specifies whether measured RSSI standard deviation of closest fingerprint must be propagated into measured RSSI reading variance at unknown location.

Parameters:

propagateFingerprintRssiStandardDeviation - true to propagate RSSI standard deviation of closest fingerprint, false otherwise.

Throws:

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

isPathlossExponentStandardDeviationPropagated

public boolean isPathlossExponentStandardDeviationPropagated()

Indicates whether path-loss exponent standard deviation of radio source must be propagated into measured RSSI reading variance at unknown location.

Returns:

true to propagate path-loss exponent standard deviation of radio source, false otherwise.

setPathlossExponentStandardDeviationPropagated

public void setPathlossExponentStandardDeviationPropagated(boolean propagatePathlossExponentStandardDeviation)
                                                    throws com.irurueta.navigation.LockedException

Specifies whether path-loss exponent standard deviation of radio source must be propagated into measured RSSI reading variance at unknown location.

Parameters:

propagatePathlossExponentStandardDeviation - true to propagate path-loss exponent standard deviation of radio source, false otherwise.

Throws:

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

isFingerprintPositionCovariancePropagated

public boolean isFingerprintPositionCovariancePropagated()

Indicates whether covariance of closest fingerprint position must be propagated into measured RSSI reading variance at unknown location.

Returns:

true to propagate fingerprint position covariance, false otherwise.

setFingerprintPositionCovariancePropagated

public void setFingerprintPositionCovariancePropagated(boolean propagateFingerprintPositionCovariance)
                                                throws com.irurueta.navigation.LockedException

Specifies whether covariance of closest fingerprint position must be propagated into measured RSSI reading variance at unknown location.

Parameters:

propagateFingerprintPositionCovariance - true to propagate fingerprint position covariance, false otherwise.

Throws:

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

isRadioSourcePositionCovariancePropagated

public boolean isRadioSourcePositionCovariancePropagated()

Indicates whether covariance of radio source position must be propagated into measured RSSI reading variance at unknown location.

Returns:

true to propagate radio source position covariance, false otherwise.

setRadioSourcePositionCovariancePropagated

public void setRadioSourcePositionCovariancePropagated(boolean propagateRadioSourcePositionCovariance)
                                                throws com.irurueta.navigation.LockedException

Specifies whether covariance of radio source position must be propagated into measured RSSI reading variance at unknown location.

Parameters:

propagateRadioSourcePositionCovariance - true to propagate radio source position covariance, false otherwise.

Throws:

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

estimate

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

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

Specified by:

estimate in class BaseFingerprintPositionAndRadioSourceEstimator<P extends com.irurueta.geometry.Point<?>,FingerprintPositionAndRadioSourceEstimatorListener<P extends com.irurueta.geometry.Point<?>>>

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.

propagateVariances

protected abstract Double propagateVariances(double pathlossExponent,
 P fingerprintPosition,
 P radioSourcePosition,
 P estimatedPosition,
 Double pathlossExponentVariance,
 com.irurueta.algebra.Matrix fingerprintPositionCovariance,
 com.irurueta.algebra.Matrix radioSourcePositionCovariance)

Propagates provided variances into RSSI differences.

Parameters:

pathlossExponent - path-loss exponent.

fingerprintPosition - position of closest located fingerprint.

radioSourcePosition - radio source position associated to fingerprint reading.

estimatedPosition - position to be estimated. Usually this is equal to the initial position used by a non-linear algorithm.

pathlossExponentVariance - variance of path-loss exponent or null if unknown.

fingerprintPositionCovariance - covariance of fingerprint position or null if unknown.

radioSourcePositionCovariance - covariance of radio source position or null if unknown.

Returns:

variance of RSSI difference measured at non located fingerprint reading.

createRadioSource

private RadioSourceLocated<P> createRadioSource(RadioSource source,
 P sourcePosition,
 com.irurueta.algebra.Matrix sourceCovariance)

Creates a located radio source from provided radio source, position and covariance.

Parameters:

source - radio source.

sourcePosition - radio source position.

sourceCovariance - radio source position covariance.

Returns:

located radio source.

buildData

private void buildData(List<Double> allPowerDiffs,
 List<P> allFingerprintPositions,
 List<P> allInitialSourcesPositions,
 List<RadioSource> allSourcesToBeEstimated,
 List<Integer> allSourcesIndices,
 List<Double> allPathLossExponents,
 List<Double> allStandardDeviations,
 P nearestFingerprintsCentroid)

Builds data required to solve the problem. This method takes into account current nearest fingerprints and discards those readings belonging to radio sources not having enough data to be estimated.

Parameters:

allPowerDiffs - list of received power differences of RSSI readings between a located fingerprint and an unknown fingerprint for a given radio source.

allFingerprintPositions - positions of all located fingerprints being taken into account.

allInitialSourcesPositions - initial positions of all radio sources to be taken into account. If initial located sources where provided, their positions will be used, otherwise the centroid of all located fingerprints associated to a radio source will be used as initial position.

allSourcesToBeEstimated - all radio sources that will be estimated.

allSourcesIndices - indices indicating the position radio source being used within the list of sources for current reading.

allPathLossExponents - list of path loss exponents.

allStandardDeviations - list of standard deviations for readings being used.

nearestFingerprintsCentroid - centroid of nearest fingerprints being taken into account.

setupFitter

private List<RadioSource> setupFitter()
                               throws com.irurueta.numerical.fitting.FittingException

Setups fitter to solve positions.

Returns:

list of radio sources whose location will be estimated.

Throws:

com.irurueta.numerical.fitting.FittingException - if Levenberg-Marquardt fitting fails.

totalReadingsForSource

private int totalReadingsForSource(RadioSource source,
 List<RssiFingerprintLocated<RadioSource,RssiReading<RadioSource>,P>> fingerprints,
 P centroid)

Gets the total number of readings associated to provided radio source. This method uses only current nearest fingerprints.

Parameters:

source - radio source to be checked

fingerprints - fingerprints where search is made.

centroid - centroid to be computed.

Returns:

total number of readings associated to provided radio source.