Package com.irurueta.navigation.indoor.position

Class MSACRobustRangingPositionEstimator3D

java.lang.Object

com.irurueta.navigation.indoor.position.RobustPositionEstimator<com.irurueta.geometry.Point3D,RangingReading<? extends RadioSource>,RobustRangingPositionEstimatorListener<com.irurueta.geometry.Point3D>>

com.irurueta.navigation.indoor.position.RobustRangingPositionEstimator<com.irurueta.geometry.Point3D>

com.irurueta.navigation.indoor.position.RobustRangingPositionEstimator3D

com.irurueta.navigation.indoor.position.MSACRobustRangingPositionEstimator3D

public class MSACRobustRangingPositionEstimator3D
extends RobustRangingPositionEstimator3D

Robustly estimates 3D position using located radio sources and their RSSI readings at unknown locations and using MSAC algorithm to discard outliers. This kind of estimator can be used to robustly determine the 3D position of a given device by getting readings at an unknown location of different radio sources whose 3D locations are known.

Field Summary

Fields inherited from class com.irurueta.navigation.indoor.position.RobustPositionEstimator

DEFAULT_EVENLY_DISTRIBUTE_READINGS, DEFAULT_ROBUST_METHOD, DEFAULT_USE_RADIO_SOURCE_POSITION_COVARIANCE, FALLBACK_DISTANCE_STANDARD_DEVIATION, fingerprint, laterationSolver, listener, preliminarySubsetSize, sources, trilaterationSolverListener

Constructor Summary

Constructors

Constructor	Description
MSACRobustRangingPositionEstimator3D()	Constructor.
MSACRobustRangingPositionEstimator3D(RobustRangingPositionEstimatorListener<com.irurueta.geometry.Point3D> listener)	Constructor.
MSACRobustRangingPositionEstimator3D(RangingFingerprint<? extends RadioSource,? extends RangingReading<? extends RadioSource>> fingerprint)	Constructor.
MSACRobustRangingPositionEstimator3D(RangingFingerprint<? extends RadioSource,? extends RangingReading<? extends RadioSource>> fingerprint, RobustRangingPositionEstimatorListener<com.irurueta.geometry.Point3D> listener)	Constructor.
MSACRobustRangingPositionEstimator3D(List<? extends RadioSourceLocated<com.irurueta.geometry.Point3D>> sources)	Constructor.
MSACRobustRangingPositionEstimator3D(List<? extends RadioSourceLocated<com.irurueta.geometry.Point3D>> sources, RobustRangingPositionEstimatorListener<com.irurueta.geometry.Point3D> listener)	Constructor.
MSACRobustRangingPositionEstimator3D(List<? extends RadioSourceLocated<com.irurueta.geometry.Point3D>> sources, RangingFingerprint<? extends RadioSource,? extends RangingReading<? extends RadioSource>> fingerprint)	Constructor
MSACRobustRangingPositionEstimator3D(List<? extends RadioSourceLocated<com.irurueta.geometry.Point3D>> sources, RangingFingerprint<? extends RadioSource,? extends RangingReading<? extends RadioSource>> fingerprint, RobustRangingPositionEstimatorListener<com.irurueta.geometry.Point3D> listener)	Constructor.

Method Summary

Modifier and Type	Method	Description
com.irurueta.numerical.robust.RobustEstimatorMethod	getMethod()	Returns method being used for robust estimation.
double	getThreshold()	Gets threshold to determine whether samples are inliers or not when testing possible solutions.
private void	init()	Initializes robust lateration solver.
void	setThreshold(double threshold)	Sets threshold to determine whether samples are inliers or not when testing possible solutions.

Methods inherited from class com.irurueta.navigation.indoor.position.RobustRangingPositionEstimator3D

create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, getMinRequiredSources, setPositionsDistancesDistanceStandardDeviationsAndQualityScores

Methods inherited from class com.irurueta.navigation.indoor.position.RobustPositionEstimator

buildPositionsDistancesDistanceStandardDeviationsAndQualityScores, estimate, getConfidence, getCovariance, getDistances, getDistanceStandardDeviations, getEstimatedPosition, getEvenlyDistributeReadings, getFallbackDistanceStandardDeviation, getFingerprint, getFingerprintReadingsQualityScores, getInitialPosition, getInliersData, getListener, getMaxIterations, getNumberOfDimensions, getPositions, getPreliminarySubsetSize, getProgressDelta, getSourceQualityScores, getSources, internalSetFingerprint, internalSetSources, isCovarianceKept, isHomogeneousLinearSolverUsed, isLinearSolverUsed, isLocked, isPreliminarySolutionRefined, isRadioSourcePositionCovarianceUsed, isReady, isResultRefined, setConfidence, setCovarianceKept, setEvenlyDistributeReadings, setFallbackDistanceStandardDeviation, setFingerprint, setFingerprintReadingsQualityScores, setHomogeneousLinearSolverUsed, setInitialPosition, setLinearSolverUsed, setListener, setMaxIterations, setPreliminarySolutionRefined, setPreliminarySubsetSize, setProgressDelta, setRadioSourcePositionCovarianceUsed, setResultRefined, setSourceQualityScores, setSources

Methods inherited from class java.lang.Object

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

Constructor Details

MSACRobustRangingPositionEstimator3D

public MSACRobustRangingPositionEstimator3D()

Constructor.

MSACRobustRangingPositionEstimator3D

public MSACRobustRangingPositionEstimator3D(List<? extends RadioSourceLocated<com.irurueta.geometry.Point3D>> sources)

Constructor.

Parameters:

sources - located radio sources used for lateration.

Throws:

IllegalArgumentException - if provided sources is null or the number of provided sources is less than the required minimum.

MSACRobustRangingPositionEstimator3D

public MSACRobustRangingPositionEstimator3D(RangingFingerprint<? extends RadioSource,? extends RangingReading<? extends RadioSource>> fingerprint)

Constructor.

Parameters:

fingerprint - fingerprint containing ranging readings at an unknown location for provided located radio sources.

Throws:

IllegalArgumentException - if provided fingerprint is null.

MSACRobustRangingPositionEstimator3D

public MSACRobustRangingPositionEstimator3D(List<? extends RadioSourceLocated<com.irurueta.geometry.Point3D>> sources,
 RangingFingerprint<? extends RadioSource,? extends RangingReading<? extends RadioSource>> fingerprint)

Constructor

Parameters:

sources - located radio sources used for lateration.

fingerprint - fingerprint containing ranging readings at an unknown location for provided located radio sources.

Throws:

IllegalArgumentException - if either provided sources or fingerprint is null or the number of provided sources is less than the required minimum.

MSACRobustRangingPositionEstimator3D

public MSACRobustRangingPositionEstimator3D(RobustRangingPositionEstimatorListener<com.irurueta.geometry.Point3D> listener)

Constructor.

Parameters:

listener - listener in charge of handling events.

MSACRobustRangingPositionEstimator3D

public MSACRobustRangingPositionEstimator3D(List<? extends RadioSourceLocated<com.irurueta.geometry.Point3D>> sources,
 RobustRangingPositionEstimatorListener<com.irurueta.geometry.Point3D> listener)

Constructor.

Parameters:

sources - located radio sources used for lateration.

listener - listener in charge of handling events.

Throws:

IllegalArgumentException - if provided sources is null or the number of provided sources is less than the required minimum.

MSACRobustRangingPositionEstimator3D

public MSACRobustRangingPositionEstimator3D(RangingFingerprint<? extends RadioSource,? extends RangingReading<? extends RadioSource>> fingerprint,
 RobustRangingPositionEstimatorListener<com.irurueta.geometry.Point3D> listener)

Constructor.

Parameters:

fingerprint - fingerprint containing ranging readings at an unknown location for provided location radio sources.

listener - listener in charge of handling events.

Throws:

IllegalArgumentException - if provided fingerprint is null.

MSACRobustRangingPositionEstimator3D

public MSACRobustRangingPositionEstimator3D(List<? extends RadioSourceLocated<com.irurueta.geometry.Point3D>> sources,
 RangingFingerprint<? extends RadioSource,? extends RangingReading<? extends RadioSource>> fingerprint,
 RobustRangingPositionEstimatorListener<com.irurueta.geometry.Point3D> listener)

Constructor.

Parameters:

sources - located radio sources used for lateration.

fingerprint - fingerprint containing ranging readings at an unknown location for provided located radio sources.

listener - listener in charge of handling events.

Method Details

getThreshold

public double getThreshold()

Gets threshold to determine whether samples are inliers or not when testing possible solutions. The threshold refers to the amount of error on distance between estimated position and distances provided for each sample.

Returns:

threshold to determine whether samples are inliers or not.

setThreshold

public void setThreshold(double threshold)
                  throws com.irurueta.navigation.LockedException

Sets threshold to determine whether samples are inliers or not when testing possible solutions. The threshold refers to the amount of error on distance between estimated position and distances provided for each sample.

Parameters:

threshold - threshold to determine whether samples are inliers or not.

Throws:

IllegalArgumentException - if provided value is equal or less than zero.

com.irurueta.navigation.LockedException - if this solver is locked.

getMethod

public com.irurueta.numerical.robust.RobustEstimatorMethod getMethod()

Returns method being used for robust estimation.

Specified by:

getMethod in class RobustPositionEstimator<com.irurueta.geometry.Point3D,RangingReading<? extends RadioSource>,RobustRangingPositionEstimatorListener<com.irurueta.geometry.Point3D>>

Returns:

method being used for robust estimation.

init

private void init()

Initializes robust lateration solver.