Package com.irurueta.navigation.indoor.position

Class NonLinearRangingPositionEstimator3D

java.lang.Object

com.irurueta.navigation.indoor.position.PositionEstimator<com.irurueta.geometry.Point3D,RangingReading<? extends RadioSource>,RangingPositionEstimatorListener<com.irurueta.geometry.Point3D>>

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

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

com.irurueta.navigation.indoor.position.NonLinearRangingPositionEstimator3D

public class NonLinearRangingPositionEstimator3D
extends NonLinearRangingPositionEstimator<com.irurueta.geometry.Point3D>

Estimates 3D position non-linearly using located radio sources and their ranging readings at unknown locations. These kind of estimators can be used to determine the position of a given device by getting ranging readings at an unknown location of different radio sources whose locations are known.

Field Summary

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

FALLBACK_DISTANCE_STANDARD_DEVIATION, laterationSolverListener, trilaterationSolver

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

estimatedPositionCoordinates, fingerprint, listener, sources

Constructor Summary

Constructors

Constructor	Description
NonLinearRangingPositionEstimator3D()	Constructor.
NonLinearRangingPositionEstimator3D(com.irurueta.geometry.Point3D initialPosition)	Constructor.
NonLinearRangingPositionEstimator3D(com.irurueta.geometry.Point3D initialPosition, RangingPositionEstimatorListener<com.irurueta.geometry.Point3D> listener)	Constructor.
NonLinearRangingPositionEstimator3D(Fingerprint<? extends RadioSource,? extends RangingReading<? extends RadioSource>> fingerprint)	Constructor.
NonLinearRangingPositionEstimator3D(Fingerprint<? extends RadioSource,? extends RangingReading<? extends RadioSource>> fingerprint, com.irurueta.geometry.Point3D initialPosition)	Constructor.
NonLinearRangingPositionEstimator3D(Fingerprint<? extends RadioSource,? extends RangingReading<? extends RadioSource>> fingerprint, com.irurueta.geometry.Point3D initialPosition, RangingPositionEstimatorListener<com.irurueta.geometry.Point3D> listener)	Constructor.
NonLinearRangingPositionEstimator3D(Fingerprint<? extends RadioSource,? extends RangingReading<? extends RadioSource>> fingerprint, RangingPositionEstimatorListener<com.irurueta.geometry.Point3D> listener)	Constructor.
NonLinearRangingPositionEstimator3D(RangingPositionEstimatorListener<com.irurueta.geometry.Point3D> listener)	Constructor.
NonLinearRangingPositionEstimator3D(List<? extends RadioSourceLocated<com.irurueta.geometry.Point3D>> sources)	Constructor
NonLinearRangingPositionEstimator3D(List<? extends RadioSourceLocated<com.irurueta.geometry.Point3D>> sources, com.irurueta.geometry.Point3D initialPosition)	Constructor.
NonLinearRangingPositionEstimator3D(List<? extends RadioSourceLocated<com.irurueta.geometry.Point3D>> sources, com.irurueta.geometry.Point3D initialPosition, RangingPositionEstimatorListener<com.irurueta.geometry.Point3D> listener)	Constructor.
NonLinearRangingPositionEstimator3D(List<? extends RadioSourceLocated<com.irurueta.geometry.Point3D>> sources, Fingerprint<? extends RadioSource,? extends RangingReading<? extends RadioSource>> fingerprint)	Constructor.
NonLinearRangingPositionEstimator3D(List<? extends RadioSourceLocated<com.irurueta.geometry.Point3D>> sources, Fingerprint<? extends RadioSource,? extends RangingReading<? extends RadioSource>> fingerprint, com.irurueta.geometry.Point3D initialPosition)	Constructor.
NonLinearRangingPositionEstimator3D(List<? extends RadioSourceLocated<com.irurueta.geometry.Point3D>> sources, Fingerprint<? extends RadioSource,? extends RangingReading<? extends RadioSource>> fingerprint, com.irurueta.geometry.Point3D initialPosition, RangingPositionEstimatorListener<com.irurueta.geometry.Point3D> listener)	Constructor.
NonLinearRangingPositionEstimator3D(List<? extends RadioSourceLocated<com.irurueta.geometry.Point3D>> sources, Fingerprint<? extends RadioSource,? extends RangingReading<? extends RadioSource>> fingerprint, RangingPositionEstimatorListener<com.irurueta.geometry.Point3D> listener)	Constructor.
NonLinearRangingPositionEstimator3D(List<? extends RadioSourceLocated<com.irurueta.geometry.Point3D>> sources, RangingPositionEstimatorListener<com.irurueta.geometry.Point3D> listener)	Constructor.

Method Summary

Modifier and Type	Method	Description
com.irurueta.geometry.Point3D	getEstimatedPosition()	Gets estimated position.
private void	initialize()	Initializes lateration solver.
protected void	setPositionsDistancesAndDistanceStandardDeviations(List<com.irurueta.geometry.Point3D> positions, List<Double> distances, List<Double> distanceStandardDeviations)	Sets positions, distances and standard deviations of distances on internal lateration solver.

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

estimate, getCovariance, getDistances, getDistanceStandardDeviations, getFallbackDistanceStandardDeviation, getInitialPosition, getMinRequiredSources, getPositions, internalSetFingerprint, internalSetSources, isLocked, isRadioSourcePositionCovarianceUsed, isReady, setFallbackDistanceStandardDeviation, setInitialPosition, setRadioSourcePositionCovarianceUsed

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

getEstimatedPosition, getEstimatedPositionCoordinates, getFingerprint, getListener, getSources, setFingerprint, setListener, setSources

Methods inherited from class java.lang.Object

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

Constructor Details

NonLinearRangingPositionEstimator3D

public NonLinearRangingPositionEstimator3D()

Constructor.

NonLinearRangingPositionEstimator3D

public NonLinearRangingPositionEstimator3D(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.

NonLinearRangingPositionEstimator3D

public NonLinearRangingPositionEstimator3D(Fingerprint<? extends RadioSource,? extends RangingReading<? extends RadioSource>> fingerprint)

Constructor.

Parameters:

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

Throws:

IllegalArgumentException - if provided fingerprint is null.

NonLinearRangingPositionEstimator3D

public NonLinearRangingPositionEstimator3D(List<? extends RadioSourceLocated<com.irurueta.geometry.Point3D>> sources,
 Fingerprint<? extends RadioSource,? extends RangingReading<? extends RadioSource>> fingerprint)

Constructor.

Parameters:

sources - located radio sources used for lateration.

fingerprint - fingerprint containing 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.

NonLinearRangingPositionEstimator3D

public NonLinearRangingPositionEstimator3D(RangingPositionEstimatorListener<com.irurueta.geometry.Point3D> listener)

Constructor.

Parameters:

listener - listener in charge of handling events.

NonLinearRangingPositionEstimator3D

public NonLinearRangingPositionEstimator3D(List<? extends RadioSourceLocated<com.irurueta.geometry.Point3D>> sources,
 RangingPositionEstimatorListener<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.

NonLinearRangingPositionEstimator3D

public NonLinearRangingPositionEstimator3D(Fingerprint<? extends RadioSource,? extends RangingReading<? extends RadioSource>> fingerprint,
 RangingPositionEstimatorListener<com.irurueta.geometry.Point3D> listener)

Constructor.

Parameters:

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

listener - listener in charge of handling events.

Throws:

IllegalArgumentException - if provided fingerprint is null.

NonLinearRangingPositionEstimator3D

public NonLinearRangingPositionEstimator3D(List<? extends RadioSourceLocated<com.irurueta.geometry.Point3D>> sources,
 Fingerprint<? extends RadioSource,? extends RangingReading<? extends RadioSource>> fingerprint,
 RangingPositionEstimatorListener<com.irurueta.geometry.Point3D> listener)

Constructor.

Parameters:

sources - located radio sources used for lateration.

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

listener - listener in charge of handling events.

Throws:

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

NonLinearRangingPositionEstimator3D

public NonLinearRangingPositionEstimator3D(com.irurueta.geometry.Point3D initialPosition)

Constructor.

Parameters:

initialPosition - initial position to start position estimation.

NonLinearRangingPositionEstimator3D

public NonLinearRangingPositionEstimator3D(List<? extends RadioSourceLocated<com.irurueta.geometry.Point3D>> sources,
 com.irurueta.geometry.Point3D initialPosition)

Constructor.

Parameters:

sources - located radio sources used for lateration.

initialPosition - initial position to start position estimation.

Throws:

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

NonLinearRangingPositionEstimator3D

public NonLinearRangingPositionEstimator3D(Fingerprint<? extends RadioSource,? extends RangingReading<? extends RadioSource>> fingerprint,
 com.irurueta.geometry.Point3D initialPosition)

Constructor.

Parameters:

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

initialPosition - initial position to start position estimation.

Throws:

IllegalArgumentException - if provided fingerprint is null.

NonLinearRangingPositionEstimator3D

public NonLinearRangingPositionEstimator3D(List<? extends RadioSourceLocated<com.irurueta.geometry.Point3D>> sources,
 Fingerprint<? extends RadioSource,? extends RangingReading<? extends RadioSource>> fingerprint,
 com.irurueta.geometry.Point3D initialPosition)

Constructor.

Parameters:

sources - located radio sources used for lateration.

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

initialPosition - initial position to start position estimation

Throws:

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

NonLinearRangingPositionEstimator3D

public NonLinearRangingPositionEstimator3D(com.irurueta.geometry.Point3D initialPosition,
 RangingPositionEstimatorListener<com.irurueta.geometry.Point3D> listener)

Constructor.

Parameters:

initialPosition - initial position to start position estimation.

listener - listener in charge of handling events.

NonLinearRangingPositionEstimator3D

public NonLinearRangingPositionEstimator3D(List<? extends RadioSourceLocated<com.irurueta.geometry.Point3D>> sources,
 com.irurueta.geometry.Point3D initialPosition,
 RangingPositionEstimatorListener<com.irurueta.geometry.Point3D> listener)

Constructor.

Parameters:

sources - located radio sources used for lateration.

initialPosition - initial position to start position estimation.

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.

NonLinearRangingPositionEstimator3D

public NonLinearRangingPositionEstimator3D(Fingerprint<? extends RadioSource,? extends RangingReading<? extends RadioSource>> fingerprint,
 com.irurueta.geometry.Point3D initialPosition,
 RangingPositionEstimatorListener<com.irurueta.geometry.Point3D> listener)

Constructor.

Parameters:

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

initialPosition - initial position to start position estimation.

listener - listener in charge of handling events.

Throws:

IllegalArgumentException - if provided fingerprint is null.

NonLinearRangingPositionEstimator3D

public NonLinearRangingPositionEstimator3D(List<? extends RadioSourceLocated<com.irurueta.geometry.Point3D>> sources,
 Fingerprint<? extends RadioSource,? extends RangingReading<? extends RadioSource>> fingerprint,
 com.irurueta.geometry.Point3D initialPosition,
 RangingPositionEstimatorListener<com.irurueta.geometry.Point3D> listener)

Constructor.

Parameters:

sources - located radio sources used for lateration.

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

initialPosition - initial position to start position estimation.

listener - listener in charge of handling events.

Throws:

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

Method Details

getEstimatedPosition

public com.irurueta.geometry.Point3D getEstimatedPosition()

Gets estimated position.

Specified by:

getEstimatedPosition in class PositionEstimator<com.irurueta.geometry.Point3D,RangingReading<? extends RadioSource>,RangingPositionEstimatorListener<com.irurueta.geometry.Point3D>>

Returns:

estimated position.

setPositionsDistancesAndDistanceStandardDeviations

protected void setPositionsDistancesAndDistanceStandardDeviations(List<com.irurueta.geometry.Point3D> positions,
 List<Double> distances,
 List<Double> distanceStandardDeviations)

Sets positions, distances and standard deviations of distances on internal lateration solver.

Specified by:

setPositionsDistancesAndDistanceStandardDeviations in class NonLinearRangingPositionEstimator<com.irurueta.geometry.Point3D>

Parameters:

positions - positions to be set.

distances - distances to be set.

distanceStandardDeviations - standard deviations of distances to be set.

initialize

private void initialize()

Initializes lateration solver.