Package com.irurueta.navigation.indoor.fingerprint

Class NonLinearFingerprintPositionAndRadioSourceEstimator3D

java.lang.Object

com.irurueta.navigation.indoor.fingerprint.BaseFingerprintPositionAndRadioSourceEstimator<com.irurueta.geometry.Point3D,FingerprintPositionAndRadioSourceEstimatorListener<com.irurueta.geometry.Point3D>>

com.irurueta.navigation.indoor.fingerprint.FingerprintPositionAndRadioSourceEstimator<com.irurueta.geometry.Point3D>

com.irurueta.navigation.indoor.fingerprint.NonLinearFingerprintPositionAndRadioSourceEstimator<com.irurueta.geometry.Point3D>

com.irurueta.navigation.indoor.fingerprint.NonLinearFingerprintPositionAndRadioSourceEstimator3D

public class NonLinearFingerprintPositionAndRadioSourceEstimator3D
extends NonLinearFingerprintPositionAndRadioSourceEstimator<com.irurueta.geometry.Point3D>

Position and radio source estimator in 3D based only on located fingerprints containing RSSI readings. This class estimates 3D position of a new fingerprint and the 3D position of all radio sources associated to fingerprints whose location is known.

Field Summary

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

DEFAULT_PROPAGATE_FINGERPRINT_POSITION_COVARIANCE, DEFAULT_PROPAGATE_FINGERPRINT_RSSI_STANDARD_DEVIATION, DEFAULT_PROPAGATE_PATHLOSS_EXPONENT_STANDARD_DEVIATION, DEFAULT_PROPAGATE_RADIO_SOURCE_POSITION_COVARIANCE, FALLBACK_RSSI_STANDARD_DEVIATION, mInitialLocatedSources, useSourcesPathLossExponentWhenAvailable

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

Constructor	Description
NonLinearFingerprintPositionAndRadioSourceEstimator3D()	Constructor.
NonLinearFingerprintPositionAndRadioSourceEstimator3D(FingerprintPositionAndRadioSourceEstimatorListener<com.irurueta.geometry.Point3D> listener)	Constructor.
NonLinearFingerprintPositionAndRadioSourceEstimator3D(List<? extends RssiFingerprintLocated<? extends RadioSource,? extends RssiReading<? extends RadioSource>,com.irurueta.geometry.Point3D>> locatedFingerprints, RssiFingerprint<? extends RadioSource,? extends RssiReading<? extends RadioSource>> fingerprint)	Constructor.
NonLinearFingerprintPositionAndRadioSourceEstimator3D(List<? extends RssiFingerprintLocated<? extends RadioSource,? extends RssiReading<? extends RadioSource>,com.irurueta.geometry.Point3D>> locatedFingerprints, RssiFingerprint<? extends RadioSource,? extends RssiReading<? extends RadioSource>> fingerprint, com.irurueta.geometry.Point3D initialPosition)	Constructor.
NonLinearFingerprintPositionAndRadioSourceEstimator3D(List<? extends RssiFingerprintLocated<? extends RadioSource,? extends RssiReading<? extends RadioSource>,com.irurueta.geometry.Point3D>> locatedFingerprints, RssiFingerprint<? extends RadioSource,? extends RssiReading<? extends RadioSource>> fingerprint, com.irurueta.geometry.Point3D initialPosition, FingerprintPositionAndRadioSourceEstimatorListener<com.irurueta.geometry.Point3D> listener)	Constructor.
NonLinearFingerprintPositionAndRadioSourceEstimator3D(List<? extends RssiFingerprintLocated<? extends RadioSource,? extends RssiReading<? extends RadioSource>,com.irurueta.geometry.Point3D>> locatedFingerprints, RssiFingerprint<? extends RadioSource,? extends RssiReading<? extends RadioSource>> fingerprint, com.irurueta.geometry.Point3D initialPosition, List<? extends RadioSourceLocated<com.irurueta.geometry.Point3D>> initialLocatedSources)	Constructor.
NonLinearFingerprintPositionAndRadioSourceEstimator3D(List<? extends RssiFingerprintLocated<? extends RadioSource,? extends RssiReading<? extends RadioSource>,com.irurueta.geometry.Point3D>> locatedFingerprints, RssiFingerprint<? extends RadioSource,? extends RssiReading<? extends RadioSource>> fingerprint, com.irurueta.geometry.Point3D initialPosition, List<? extends RadioSourceLocated<com.irurueta.geometry.Point3D>> initialLocatedSources, FingerprintPositionAndRadioSourceEstimatorListener<com.irurueta.geometry.Point3D> listener)	Constructor.
NonLinearFingerprintPositionAndRadioSourceEstimator3D(List<? extends RssiFingerprintLocated<? extends RadioSource,? extends RssiReading<? extends RadioSource>,com.irurueta.geometry.Point3D>> locatedFingerprints, RssiFingerprint<? extends RadioSource,? extends RssiReading<? extends RadioSource>> fingerprint, FingerprintPositionAndRadioSourceEstimatorListener<com.irurueta.geometry.Point3D> listener)	Constructor.
NonLinearFingerprintPositionAndRadioSourceEstimator3D(List<? extends RssiFingerprintLocated<? extends RadioSource,? extends RssiReading<? extends RadioSource>,com.irurueta.geometry.Point3D>> locatedFingerprints, RssiFingerprint<? extends RadioSource,? extends RssiReading<? extends RadioSource>> fingerprint, List<? extends RadioSourceLocated<com.irurueta.geometry.Point3D>> initialLocatedSources)	Constructor.
NonLinearFingerprintPositionAndRadioSourceEstimator3D(List<? extends RssiFingerprintLocated<? extends RadioSource,? extends RssiReading<? extends RadioSource>,com.irurueta.geometry.Point3D>> locatedFingerprints, RssiFingerprint<? extends RadioSource,? extends RssiReading<? extends RadioSource>> fingerprint, List<? extends RadioSourceLocated<com.irurueta.geometry.Point3D>> initialLocatedSources, FingerprintPositionAndRadioSourceEstimatorListener<com.irurueta.geometry.Point3D> listener)	Constructor.

Method Summary

Modifier and Type	Method	Description
protected com.irurueta.geometry.Point3D	createPoint()	Create a point.
int	getNumberOfDimensions()	Gets number of dimensions of points.
protected Double	propagateVariances(double pathlossExponent, com.irurueta.geometry.Point3D fingerprintPosition, com.irurueta.geometry.Point3D radioSourcePosition, com.irurueta.geometry.Point3D estimatedPosition, Double pathlossExponentVariance, com.irurueta.algebra.Matrix fingerprintPositionCovariance, com.irurueta.algebra.Matrix radioSourcePositionCovariance)	Propagates provided variances into RSSI differences.

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

estimate, getChiSq, getCovariance, getEstimatedPositionCovariance, getFallbackRssiStandardDeviation, getInitialLocatedSources, getInitialPosition, getUseSourcesPathLossExponentWhenAvailable, isFingerprintPositionCovariancePropagated, isFingerprintRssiStandardDeviationPropagated, isPathlossExponentStandardDeviationPropagated, isRadioSourcePositionCovariancePropagated, setFallbackRssiStandardDeviation, setFingerprintPositionCovariancePropagated, setFingerprintRssiStandardDeviationPropagated, setInitialLocatedSources, setInitialPosition, setPathlossExponentStandardDeviationPropagated, setRadioSourcePositionCovariancePropagated, setUseSourcesPathLossExponentWhenAvailable

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

getUseNoMeanNearestFingerprintFinder, setUseNoMeanNearestFingerprintFinder

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

getEstimatedLocatedSources, getEstimatedPosition, getEstimatedPosition, getEstimatedPositionCoordinates, getFingerprint, getListener, getLocatedFingerprints, getMaxNearestFingerprints, getMinNearestFingerprints, getNearestFingerprints, 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

Constructor Details

NonLinearFingerprintPositionAndRadioSourceEstimator3D

public NonLinearFingerprintPositionAndRadioSourceEstimator3D()

Constructor.

NonLinearFingerprintPositionAndRadioSourceEstimator3D

public NonLinearFingerprintPositionAndRadioSourceEstimator3D(FingerprintPositionAndRadioSourceEstimatorListener<com.irurueta.geometry.Point3D> listener)

Constructor.

Parameters:

listener - listener in charge of handling events.

NonLinearFingerprintPositionAndRadioSourceEstimator3D

public NonLinearFingerprintPositionAndRadioSourceEstimator3D(List<? extends RssiFingerprintLocated<? extends RadioSource,? extends RssiReading<? extends RadioSource>,com.irurueta.geometry.Point3D>> 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.

NonLinearFingerprintPositionAndRadioSourceEstimator3D

public NonLinearFingerprintPositionAndRadioSourceEstimator3D(List<? extends RssiFingerprintLocated<? extends RadioSource,? extends RssiReading<? extends RadioSource>,com.irurueta.geometry.Point3D>> locatedFingerprints,
 RssiFingerprint<? extends RadioSource,? extends RssiReading<? extends RadioSource>> fingerprint,
 FingerprintPositionAndRadioSourceEstimatorListener<com.irurueta.geometry.Point3D> 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.

NonLinearFingerprintPositionAndRadioSourceEstimator3D

public NonLinearFingerprintPositionAndRadioSourceEstimator3D(List<? extends RssiFingerprintLocated<? extends RadioSource,? extends RssiReading<? extends RadioSource>,com.irurueta.geometry.Point3D>> locatedFingerprints,
 RssiFingerprint<? extends RadioSource,? extends RssiReading<? extends RadioSource>> fingerprint,
 com.irurueta.geometry.Point3D 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.

NonLinearFingerprintPositionAndRadioSourceEstimator3D

public NonLinearFingerprintPositionAndRadioSourceEstimator3D(List<? extends RssiFingerprintLocated<? extends RadioSource,? extends RssiReading<? extends RadioSource>,com.irurueta.geometry.Point3D>> locatedFingerprints,
 RssiFingerprint<? extends RadioSource,? extends RssiReading<? extends RadioSource>> fingerprint,
 com.irurueta.geometry.Point3D initialPosition,
 FingerprintPositionAndRadioSourceEstimatorListener<com.irurueta.geometry.Point3D> 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.

NonLinearFingerprintPositionAndRadioSourceEstimator3D

public NonLinearFingerprintPositionAndRadioSourceEstimator3D(List<? extends RssiFingerprintLocated<? extends RadioSource,? extends RssiReading<? extends RadioSource>,com.irurueta.geometry.Point3D>> locatedFingerprints,
 RssiFingerprint<? extends RadioSource,? extends RssiReading<? extends RadioSource>> fingerprint,
 List<? extends RadioSourceLocated<com.irurueta.geometry.Point3D>> 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.

NonLinearFingerprintPositionAndRadioSourceEstimator3D

public NonLinearFingerprintPositionAndRadioSourceEstimator3D(List<? extends RssiFingerprintLocated<? extends RadioSource,? extends RssiReading<? extends RadioSource>,com.irurueta.geometry.Point3D>> locatedFingerprints,
 RssiFingerprint<? extends RadioSource,? extends RssiReading<? extends RadioSource>> fingerprint,
 List<? extends RadioSourceLocated<com.irurueta.geometry.Point3D>> initialLocatedSources,
 FingerprintPositionAndRadioSourceEstimatorListener<com.irurueta.geometry.Point3D> 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.

NonLinearFingerprintPositionAndRadioSourceEstimator3D

public NonLinearFingerprintPositionAndRadioSourceEstimator3D(List<? extends RssiFingerprintLocated<? extends RadioSource,? extends RssiReading<? extends RadioSource>,com.irurueta.geometry.Point3D>> locatedFingerprints,
 RssiFingerprint<? extends RadioSource,? extends RssiReading<? extends RadioSource>> fingerprint,
 com.irurueta.geometry.Point3D initialPosition,
 List<? extends RadioSourceLocated<com.irurueta.geometry.Point3D>> 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.

NonLinearFingerprintPositionAndRadioSourceEstimator3D

public NonLinearFingerprintPositionAndRadioSourceEstimator3D(List<? extends RssiFingerprintLocated<? extends RadioSource,? extends RssiReading<? extends RadioSource>,com.irurueta.geometry.Point3D>> locatedFingerprints,
 RssiFingerprint<? extends RadioSource,? extends RssiReading<? extends RadioSource>> fingerprint,
 com.irurueta.geometry.Point3D initialPosition,
 List<? extends RadioSourceLocated<com.irurueta.geometry.Point3D>> initialLocatedSources,
 FingerprintPositionAndRadioSourceEstimatorListener<com.irurueta.geometry.Point3D> 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

propagateVariances

protected Double propagateVariances(double pathlossExponent,
 com.irurueta.geometry.Point3D fingerprintPosition,
 com.irurueta.geometry.Point3D radioSourcePosition,
 com.irurueta.geometry.Point3D estimatedPosition,
 Double pathlossExponentVariance,
 com.irurueta.algebra.Matrix fingerprintPositionCovariance,
 com.irurueta.algebra.Matrix radioSourcePositionCovariance)

Propagates provided variances into RSSI differences.

Specified by:

propagateVariances in class NonLinearFingerprintPositionAndRadioSourceEstimator<com.irurueta.geometry.Point3D>

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.

getNumberOfDimensions

public int getNumberOfDimensions()

Gets number of dimensions of points.

Specified by:

getNumberOfDimensions in class BaseFingerprintPositionAndRadioSourceEstimator<com.irurueta.geometry.Point3D,FingerprintPositionAndRadioSourceEstimatorListener<com.irurueta.geometry.Point3D>>

Returns:

number of dimensions of points.

createPoint

protected com.irurueta.geometry.Point3D createPoint()

Create a point.

Specified by:

createPoint in class BaseFingerprintPositionAndRadioSourceEstimator<com.irurueta.geometry.Point3D,FingerprintPositionAndRadioSourceEstimatorListener<com.irurueta.geometry.Point3D>>

Returns:

point to be created.