Package com.irurueta.navigation.indoor.fingerprint

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

java.lang.Object

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

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

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

Type Parameters:

P - a Point type.

Direct Known Subclasses:

NonLinearFingerprintPositionEstimator2D, NonLinearFingerprintPositionEstimator3D

public abstract class NonLinearFingerprintPositionEstimator<P extends com.irurueta.geometry.Point<?>>
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 Taylor approximation over provided located fingerprints to determine an approximate position for a non-located fingerprint using a non-linear solving algorithm. An initial position can be provided as a starting point to solve the position, otherwise the average point of selected nearest fingerprints is used as a starting point.

Field Summary

Fields

Modifier and Type	Field	Description
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.
static final NonLinearFingerprintPositionEstimatorType	DEFAULT_TYPE	Default type to be used when none is provided.
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	mChiSq	Estimated chi square value.
private com.irurueta.algebra.Matrix	mCovariance	Estimated covariance matrix for estimated position.
private double	mFallbackRssiStandardDeviation	RSSI standard deviation fallback value to use when none can be determined from provided readings.
private final com.irurueta.numerical.fitting.LevenbergMarquardtMultiDimensionFitter	mFitter	Levenberg-Marquardt fitter to find a non-linear solution.
private P	mInitialPosition	Initial position to start the solving algorithm.
private boolean	mPropagateFingerprintPositionCovariance	Indicates whether covariance of closest fingerprint position must be propagated into measured RSSI reading variance at unknown location.
private boolean	mPropagateFingerprintRssiStandardDeviation	Indicates whether measured RSSI standard deviation of closest fingerprint must be propagated into measured RSSI reading variance at unknown location.
private boolean	mPropagatePathlossExponentStandardDeviation	Indicates whether path-loss exponent standard deviation of radio source must be propagated into measured RSSI reading variance at unknown location.
private boolean	mPropagateRadioSourcePositionCovariance	Indicates whether covariance of radio source position must be propagated into measured RSSI reading variance at unknown location.
static final double	TINY_RSSI_STD	Small value to be used as the minimum allowed RSSI standard deviations.

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

Method Summary

Modifier and Type	Method	Description
private void	buildData(List<Double> allReceivedPower, List<Double> allFingerprintPower, List<P> allFingerprintPositions, List<P> allSourcesPositions, List<Double> allPathLossExponents, List<Double> allStandardDeviations)	Builds data required to solve the problem.
void	estimate()	Estimates position based on provided located radio sources and readings of such radio sources at an unknown location.
protected abstract double	evaluate(int i, double[] point, double[] params, double[] derivatives)	Evaluates a non-linear multi dimension function at provided point using provided parameters and returns its evaluation and derivatives of the function respect the function parameters.
double	getChiSq()	Gets estimated chi square value.
com.irurueta.algebra.Matrix	getCovariance()	Gets estimated covariance matrix for estimated position.
double	getFallbackRssiStandardDeviation()	Gets RSSI standard deviation fallback value to use when none can be determined from provided readings.
P	getInitialPosition()	Gets initial position to start the solving algorithm.
abstract NonLinearFingerprintPositionEstimatorType	getType()	Gets type of position estimator.
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 fingerprintRssi, double pathlossExponent, P fingerprintPosition, P radioSourcePosition, P estimatedPosition, Double fingerprintRssiVariance, Double pathlossExponentVariance, com.irurueta.algebra.Matrix fingerprintPositionCovariance, com.irurueta.algebra.Matrix radioSourcePositionCovariance)	Propagates provided variances into RSSI variance of non-located fingerprint reading.
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	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 void	setupFitter()	Setups fitter to solve position.

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

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

DEFAULT_TYPE

public static final NonLinearFingerprintPositionEstimatorType DEFAULT_TYPE

Default type to be used when none is provided.

TINY_RSSI_STD

public static final double TINY_RSSI_STD

Small value to be used as the minimum allowed RSSI standard deviations. A value larger than this must be provided to allow convergence to a solution

See Also:

• Constant Field Values

mInitialPosition

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

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.

mFallbackRssiStandardDeviation

private double mFallbackRssiStandardDeviation

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.

mPropagateFingerprintRssiStandardDeviation

private boolean mPropagateFingerprintRssiStandardDeviation

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

mPropagatePathlossExponentStandardDeviation

private boolean mPropagatePathlossExponentStandardDeviation

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

mPropagateFingerprintPositionCovariance

private boolean mPropagateFingerprintPositionCovariance

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

mPropagateRadioSourcePositionCovariance

private boolean mPropagateRadioSourcePositionCovariance

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

mFitter

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

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

mCovariance

private com.irurueta.algebra.Matrix mCovariance

Estimated covariance matrix for estimated position.

mChiSq

private double mChiSq

Estimated chi square value.

Constructor Details

NonLinearFingerprintPositionEstimator

protected NonLinearFingerprintPositionEstimator()

Constructor.

NonLinearFingerprintPositionEstimator

protected NonLinearFingerprintPositionEstimator(FingerprintPositionEstimatorListener<P> listener)

Constructor.

Parameters:

listener - listener in charge of handling events.

NonLinearFingerprintPositionEstimator

protected NonLinearFingerprintPositionEstimator(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).

NonLinearFingerprintPositionEstimator

protected NonLinearFingerprintPositionEstimator(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).

NonLinearFingerprintPositionEstimator

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

Constructor.

Parameters:

locatedFingerprints - located fingerprints containing RSSI readings.

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

sources - located radio sources.

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

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).

NonLinearFingerprintPositionEstimator

protected NonLinearFingerprintPositionEstimator(List<? extends RssiFingerprintLocated<? extends RadioSource,? extends RssiReading<? extends RadioSource>,P>> locatedFingerprints,
 RssiFingerprint<? extends RadioSource,? extends RssiReading<? extends RadioSource>> fingerprint,
 List<? extends RadioSourceLocated<P>> sources,
 P initialPosition,
 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.

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

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

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.

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_RSSI_STD.

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.

getCovariance

public com.irurueta.algebra.Matrix getCovariance()

Gets estimated covariance matrix for estimated position.

Returns:

estimated covariance matrix for estimated position.

getChiSq

public double getChiSq()

Gets estimated chi square value.

Returns:

estimated chi square value.

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<?>,FingerprintPositionEstimatorListener<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.

getType

public abstract NonLinearFingerprintPositionEstimatorType getType()

Gets type of position estimator.

Returns:

type of position estimator.

evaluate

protected abstract double evaluate(int i,
 double[] point,
 double[] params,
 double[] derivatives)

Evaluates a non-linear multi dimension function at provided point using provided parameters and returns its evaluation and derivatives of the function respect the function parameters.

Parameters:

i - number of sample being evaluated.

point - point where function will be evaluated.

params - initial parameters estimation to be tried. These will change as the Levenberg-Marquardt algorithm iterates to the best solution. These are used as input parameters along with point to evaluate function.

derivatives - partial derivatives of the function respect to each provided parameter.

Returns:

function evaluation at provided point.

propagateVariances

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

Propagates provided variances into RSSI variance of non-located fingerprint reading.

Parameters:

fingerprintRssi - closest located fingerprint reading RSSI expressed in dBm's.

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.

fingerprintRssiVariance - variance of fingerprint RSSI or null if unknown.

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 measured at non located fingerprint reading.

buildData

private void buildData(List<Double> allReceivedPower,
 List<Double> allFingerprintPower,
 List<P> allFingerprintPositions,
 List<P> allSourcesPositions,
 List<Double> allPathLossExponents,
 List<Double> allStandardDeviations)

Builds data required to solve the problem.

Parameters:

allReceivedPower - list of received powers for readings at unknown positions.

allFingerprintPower - list of power readings at fingerprint positions.

allFingerprintPositions - list of fingerprint positions.

allSourcesPositions - list of radio sources positions.

allPathLossExponents - list of path loss exponents.

allStandardDeviations - list of standard deviations for readings being used.

setupFitter

private void setupFitter()
                  throws com.irurueta.numerical.fitting.FittingException

Setups fitter to solve position.

Throws:

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