Package com.irurueta.navigation.indoor.position

Class PROMedSRobustRssiPositionEstimator3D

java.lang.Object

com.irurueta.navigation.indoor.position.RobustPositionEstimator<com.irurueta.geometry.Point3D,RssiReading<? extends RadioSource>,RobustRssiPositionEstimatorListener<com.irurueta.geometry.Point3D>>

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

com.irurueta.navigation.indoor.position.RobustRssiPositionEstimator3D

com.irurueta.navigation.indoor.position.PROMedSRobustRssiPositionEstimator3D

public class PROMedSRobustRssiPositionEstimator3D
extends RobustRssiPositionEstimator3D

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

Field Summary

Fields

Modifier and Type	Field	Description
private double[]	fingerprintReadingsQualityScores	Quality scores corresponding to each reading within provided fingerprint.
private double[]	sourceQualityScores	Quality scores corresponding to each provided located radio source.

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
PROMedSRobustRssiPositionEstimator3D()	Constructor.
PROMedSRobustRssiPositionEstimator3D(double[] sourceQualityScores, double[] fingerprintReadingQualityScores)	Constructor.
PROMedSRobustRssiPositionEstimator3D(double[] sourceQualityScores, double[] fingerprintReadingQualityScores, RobustRssiPositionEstimatorListener<com.irurueta.geometry.Point3D> listener)	Constructor.
PROMedSRobustRssiPositionEstimator3D(double[] sourceQualityScores, double[] fingerprintReadingQualityScores, RssiFingerprint<? extends RadioSource,? extends RssiReading<? extends RadioSource>> fingerprint)	Constructor.
PROMedSRobustRssiPositionEstimator3D(double[] sourceQualityScores, double[] fingerprintReadingQualityScores, RssiFingerprint<? extends RadioSource,? extends RssiReading<? extends RadioSource>> fingerprint, RobustRssiPositionEstimatorListener<com.irurueta.geometry.Point3D> listener)	Constructor.
PROMedSRobustRssiPositionEstimator3D(double[] sourceQualityScores, double[] fingerprintReadingQualityScores, List<? extends RadioSourceLocated<com.irurueta.geometry.Point3D>> sources)	Constructor.
PROMedSRobustRssiPositionEstimator3D(double[] sourceQualityScores, double[] fingerprintReadingQualityScores, List<? extends RadioSourceLocated<com.irurueta.geometry.Point3D>> sources, RobustRssiPositionEstimatorListener<com.irurueta.geometry.Point3D> listener)	Constructor.
PROMedSRobustRssiPositionEstimator3D(double[] sourceQualityScores, double[] fingerprintReadingQualityScores, List<? extends RadioSourceLocated<com.irurueta.geometry.Point3D>> sources, RssiFingerprint<? extends RadioSource,? extends RssiReading<? extends RadioSource>> fingerprint)	Constructor.
PROMedSRobustRssiPositionEstimator3D(double[] sourceQualityScores, double[] fingerprintReadingQualityScores, List<? extends RadioSourceLocated<com.irurueta.geometry.Point3D>> sources, RssiFingerprint<? extends RadioSource,? extends RssiReading<? extends RadioSource>> fingerprint, RobustRssiPositionEstimatorListener<com.irurueta.geometry.Point3D> listener)	Constructor.
PROMedSRobustRssiPositionEstimator3D(RobustRssiPositionEstimatorListener<com.irurueta.geometry.Point3D> listener)	Constructor.
PROMedSRobustRssiPositionEstimator3D(RssiFingerprint<? extends RadioSource,? extends RssiReading<? extends RadioSource>> fingerprint)	Constructor.
PROMedSRobustRssiPositionEstimator3D(RssiFingerprint<? extends RadioSource,? extends RssiReading<? extends RadioSource>> fingerprint, RobustRssiPositionEstimatorListener<com.irurueta.geometry.Point3D> listener)	Constructor.
PROMedSRobustRssiPositionEstimator3D(List<? extends RadioSourceLocated<com.irurueta.geometry.Point3D>> sources)	Constructor.
PROMedSRobustRssiPositionEstimator3D(List<? extends RadioSourceLocated<com.irurueta.geometry.Point3D>> sources, RobustRssiPositionEstimatorListener<com.irurueta.geometry.Point3D> listener)	Constructor.
PROMedSRobustRssiPositionEstimator3D(List<? extends RadioSourceLocated<com.irurueta.geometry.Point3D>> sources, RssiFingerprint<? extends RadioSource,? extends RssiReading<? extends RadioSource>> fingerprint)	Constructor.
PROMedSRobustRssiPositionEstimator3D(List<? extends RadioSourceLocated<com.irurueta.geometry.Point3D>> sources, RssiFingerprint<? extends RadioSource,? extends RssiReading<? extends RadioSource>> fingerprint, RobustRssiPositionEstimatorListener<com.irurueta.geometry.Point3D> listener)	Constructor.

Method Summary

Modifier and Type	Method	Description
double[]	getFingerprintReadingsQualityScores()	Gets quality scores corresponding to each reading within provided fingerprint.
com.irurueta.numerical.robust.RobustEstimatorMethod	getMethod()	Returns method being used for robust estimation.
double[]	getSourceQualityScores()	Returns quality scores corresponding to each radio source.
double	getStopThreshold()	Returns threshold to be used to keep the algorithm iterating in case that best estimated threshold using median of residuals is not small enough.
private void	init()	Initializes robust lateration solver.
private void	internalSetFingerprintReadingsQualityScores(double[] fingerprintReadingsQualityScores)	Sets quality scores corresponding to each provided reading within provided fingerprint.
private void	internalSetSourceQualityScores(double[] sourceQualityScores)	Sets quality scores corresponding to each provided located radio source.
void	setFingerprintReadingsQualityScores(double[] fingerprintReadingsQualityScores)	Sets quality scores corresponding to each reading within provided fingerprint.
void	setSourceQualityScores(double[] sourceQualityScores)	Sets quality scores corresponding to each radio source.
void	setStopThreshold(double stopThreshold)	Sets threshold to be used to keep the algorithm iterating in case that best estimated threshold using median of residuals is not small enough.

Methods inherited from class com.irurueta.navigation.indoor.position.RobustRssiPositionEstimator3D

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, getInitialPosition, getInliersData, getListener, getMaxIterations, getNumberOfDimensions, getPositions, getPreliminarySubsetSize, getProgressDelta, getSources, internalSetFingerprint, internalSetSources, isCovarianceKept, isHomogeneousLinearSolverUsed, isLinearSolverUsed, isLocked, isPreliminarySolutionRefined, isRadioSourcePositionCovarianceUsed, isReady, isResultRefined, setConfidence, setCovarianceKept, setEvenlyDistributeReadings, setFallbackDistanceStandardDeviation, setFingerprint, setHomogeneousLinearSolverUsed, setInitialPosition, setLinearSolverUsed, setListener, setMaxIterations, setPreliminarySolutionRefined, setPreliminarySubsetSize, setProgressDelta, setRadioSourcePositionCovarianceUsed, setResultRefined, setSources

Methods inherited from class java.lang.Object

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

Field Details

sourceQualityScores

private double[] sourceQualityScores

Quality scores corresponding to each provided located radio source. The larger the score value the better the quality of the radio source.

fingerprintReadingsQualityScores

private double[] fingerprintReadingsQualityScores

Quality scores corresponding to each reading within provided fingerprint. The larger the score value the better the quality of the reading.

Constructor Details

PROMedSRobustRssiPositionEstimator3D

public PROMedSRobustRssiPositionEstimator3D()

Constructor.

PROMedSRobustRssiPositionEstimator3D

public PROMedSRobustRssiPositionEstimator3D(List<? extends RadioSourceLocated<com.irurueta.geometry.Point3D>> sources)

Constructor.

Parameters:

sources - located radio sources used for lateration.

Throws:

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

PROMedSRobustRssiPositionEstimator3D

public PROMedSRobustRssiPositionEstimator3D(RssiFingerprint<? extends RadioSource,? extends RssiReading<? 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.

PROMedSRobustRssiPositionEstimator3D

public PROMedSRobustRssiPositionEstimator3D(List<? extends RadioSourceLocated<com.irurueta.geometry.Point3D>> sources,
 RssiFingerprint<? extends RadioSource,? extends RssiReading<? extends RadioSource>> fingerprint)

Constructor.

Parameters:

sources - located radio sources used for lateration.

fingerprint - fingerprint containing RSSI 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.

PROMedSRobustRssiPositionEstimator3D

public PROMedSRobustRssiPositionEstimator3D(RobustRssiPositionEstimatorListener<com.irurueta.geometry.Point3D> listener)

Constructor.

Parameters:

listener - listener in charge of handling events.

PROMedSRobustRssiPositionEstimator3D

public PROMedSRobustRssiPositionEstimator3D(List<? extends RadioSourceLocated<com.irurueta.geometry.Point3D>> sources,
 RobustRssiPositionEstimatorListener<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.

PROMedSRobustRssiPositionEstimator3D

public PROMedSRobustRssiPositionEstimator3D(RssiFingerprint<? extends RadioSource,? extends RssiReading<? extends RadioSource>> fingerprint,
 RobustRssiPositionEstimatorListener<com.irurueta.geometry.Point3D> listener)

Constructor.

Parameters:

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

listener - listener in charge of handling events.

Throws:

IllegalArgumentException - if provided fingerprint is null.

PROMedSRobustRssiPositionEstimator3D

public PROMedSRobustRssiPositionEstimator3D(List<? extends RadioSourceLocated<com.irurueta.geometry.Point3D>> sources,
 RssiFingerprint<? extends RadioSource,? extends RssiReading<? extends RadioSource>> fingerprint,
 RobustRssiPositionEstimatorListener<com.irurueta.geometry.Point3D> listener)

Constructor.

Parameters:

sources - located radio sources used for lateration.

fingerprint - fingerprint containing RSSI 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.

PROMedSRobustRssiPositionEstimator3D

public PROMedSRobustRssiPositionEstimator3D(double[] sourceQualityScores,
 double[] fingerprintReadingQualityScores)

Constructor.

Parameters:

sourceQualityScores - quality scores corresponding to each provided located radio source. The larger the score value the better the quality of the radio source.

fingerprintReadingQualityScores - quality scores corresponding to readings within provided fingerprint. The larger the score the better the quality of the reading.

PROMedSRobustRssiPositionEstimator3D

public PROMedSRobustRssiPositionEstimator3D(double[] sourceQualityScores,
 double[] fingerprintReadingQualityScores,
 List<? extends RadioSourceLocated<com.irurueta.geometry.Point3D>> sources)

Constructor.

Parameters:

sourceQualityScores - quality scores corresponding to each provided located radio source. The larger the score value the better the quality of the radio source.

fingerprintReadingQualityScores - quality scores corresponding to readings within provided fingerprint. The larger the score the better the quality of the reading.

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.

PROMedSRobustRssiPositionEstimator3D

public PROMedSRobustRssiPositionEstimator3D(double[] sourceQualityScores,
 double[] fingerprintReadingQualityScores,
 RssiFingerprint<? extends RadioSource,? extends RssiReading<? extends RadioSource>> fingerprint)

Constructor.

Parameters:

sourceQualityScores - quality scores corresponding to each provided located radio source. The larger the score value the better the quality of the radio source.

fingerprintReadingQualityScores - quality scores corresponding to readings within provided fingerprint. The larger the score the better the quality of the reading.

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

Throws:

IllegalArgumentException - if provided fingerprint is null.

PROMedSRobustRssiPositionEstimator3D

public PROMedSRobustRssiPositionEstimator3D(double[] sourceQualityScores,
 double[] fingerprintReadingQualityScores,
 List<? extends RadioSourceLocated<com.irurueta.geometry.Point3D>> sources,
 RssiFingerprint<? extends RadioSource,? extends RssiReading<? extends RadioSource>> fingerprint)

Constructor.

Parameters:

sourceQualityScores - quality scores corresponding to each provided located radio source. The larger the score value the better the quality of the radio source.

fingerprintReadingQualityScores - quality scores corresponding to readings within provided fingerprint. The larger the score the better the quality of the reading.

sources - located radio sources used for lateration.

fingerprint - fingerprint containing RSSI 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.

PROMedSRobustRssiPositionEstimator3D

public PROMedSRobustRssiPositionEstimator3D(double[] sourceQualityScores,
 double[] fingerprintReadingQualityScores,
 RobustRssiPositionEstimatorListener<com.irurueta.geometry.Point3D> listener)

Constructor.

Parameters:

sourceQualityScores - quality scores corresponding to each provided located radio source. The larger the score value the better the quality of the radio source.

fingerprintReadingQualityScores - quality scores corresponding to readings within provided fingerprint. The larger the score the better the quality of the reading.

listener - listener in charge of handling events.

PROMedSRobustRssiPositionEstimator3D

public PROMedSRobustRssiPositionEstimator3D(double[] sourceQualityScores,
 double[] fingerprintReadingQualityScores,
 List<? extends RadioSourceLocated<com.irurueta.geometry.Point3D>> sources,
 RobustRssiPositionEstimatorListener<com.irurueta.geometry.Point3D> listener)

Constructor.

Parameters:

sourceQualityScores - quality scores corresponding to each provided located radio source. The larger the score value the better the quality of the radio source.

fingerprintReadingQualityScores - quality scores corresponding to readings within provided fingerprint. The larger the score the better the quality of the reading.

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.

PROMedSRobustRssiPositionEstimator3D

public PROMedSRobustRssiPositionEstimator3D(double[] sourceQualityScores,
 double[] fingerprintReadingQualityScores,
 RssiFingerprint<? extends RadioSource,? extends RssiReading<? extends RadioSource>> fingerprint,
 RobustRssiPositionEstimatorListener<com.irurueta.geometry.Point3D> listener)

Constructor.

Parameters:

sourceQualityScores - quality scores corresponding to each provided located radio source. The larger the score value the better the quality of the radio source.

fingerprintReadingQualityScores - quality scores corresponding to readings within provided fingerprint. The larger the score the better the quality of the reading.

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

listener - listener in charge of handling events.

Throws:

IllegalArgumentException - if provided fingerprint is null.

PROMedSRobustRssiPositionEstimator3D

public PROMedSRobustRssiPositionEstimator3D(double[] sourceQualityScores,
 double[] fingerprintReadingQualityScores,
 List<? extends RadioSourceLocated<com.irurueta.geometry.Point3D>> sources,
 RssiFingerprint<? extends RadioSource,? extends RssiReading<? extends RadioSource>> fingerprint,
 RobustRssiPositionEstimatorListener<com.irurueta.geometry.Point3D> listener)

Constructor.

Parameters:

sourceQualityScores - quality scores corresponding to each provided located radio source. The larger the score value the better the quality of the radio source.

fingerprintReadingQualityScores - quality scores corresponding to readings within provided fingerprint. The larger the score the better the quality of the reading.

sources - located radio sources used for lateration.

fingerprint - fingerprint containing RSSI 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.

Method Details

getSourceQualityScores

public double[] getSourceQualityScores()

Returns quality scores corresponding to each radio source. The larger the score value the better the quality of the sample.

Overrides:

getSourceQualityScores in class RobustPositionEstimator<com.irurueta.geometry.Point3D,RssiReading<? extends RadioSource>,RobustRssiPositionEstimatorListener<com.irurueta.geometry.Point3D>>

Returns:

quality scores corresponding to each radio source.

setSourceQualityScores

public void setSourceQualityScores(double[] sourceQualityScores)
                            throws com.irurueta.navigation.LockedException

Sets quality scores corresponding to each radio source. The larger the score value the better the quality of the radio source.

Overrides:

setSourceQualityScores in class RobustPositionEstimator<com.irurueta.geometry.Point3D,RssiReading<? extends RadioSource>,RobustRssiPositionEstimatorListener<com.irurueta.geometry.Point3D>>

Parameters:

sourceQualityScores - quality scores corresponding to each radio source.

Throws:

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

IllegalArgumentException - if provided quality scores length is smaller than minimum required samples.

getFingerprintReadingsQualityScores

public double[] getFingerprintReadingsQualityScores()

Gets quality scores corresponding to each reading within provided fingerprint. The larger the score value the better the quality of the reading. This implementation always returns null. Subclasses using quality scores must implement proper behavior.

Overrides:

getFingerprintReadingsQualityScores in class RobustPositionEstimator<com.irurueta.geometry.Point3D,RssiReading<? extends RadioSource>,RobustRssiPositionEstimatorListener<com.irurueta.geometry.Point3D>>

Returns:

quality scores corresponding to each reading within provided fingerprint.

setFingerprintReadingsQualityScores

public void setFingerprintReadingsQualityScores(double[] fingerprintReadingsQualityScores)
                                         throws com.irurueta.navigation.LockedException

Sets quality scores corresponding to each reading within provided fingerprint. The larger the score value the better the quality of the reading. This implementation makes no action. Subclasses using quality scores must implement proper behavior.

Overrides:

setFingerprintReadingsQualityScores in class RobustPositionEstimator<com.irurueta.geometry.Point3D,RssiReading<? extends RadioSource>,RobustRssiPositionEstimatorListener<com.irurueta.geometry.Point3D>>

Parameters:

fingerprintReadingsQualityScores - quality scores corresponding to each reading within provided fingerprint.

Throws:

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

IllegalArgumentException - if provided quality scores length is smaller than minimum required samples.

getStopThreshold

public double getStopThreshold()

Returns threshold to be used to keep the algorithm iterating in case that best estimated threshold using median of residuals is not small enough. Once a solution is found that generates a threshold below this value, the algorithm will stop. The stop threshold can be used to prevent the LMedS algorithm to iterate too many times in cases where samples have a very similar accuracy. For instance, in cases where proportion of outliers is very small (close to 0%), and samples are very accurate (i.e. 1e-6), the algorithm would iterate for a long time trying to find the best solution when indeed there is no need to do that if a reasonable threshold has already been reached. Because of this behaviour the stop threshold can be set to a value much lower than the one typically used in RANSAC, and yet the algorithm could still produce even smaller thresholds in estimated results.

Returns:

stop threshold to stop the algorithm prematurely when a certain accuracy has been reached.

setStopThreshold

public void setStopThreshold(double stopThreshold)
                      throws com.irurueta.navigation.LockedException

Sets threshold to be used to keep the algorithm iterating in case that best estimated threshold using median of residuals is not small enough. Once a solution is found that generates a threshold below this value, the algorithm will stop. The stop threshold can be used to prevent the LMedS algorithm to iterate too many times in cases where samples have a very similar accuracy. For instance, in cases where proportion of outliers is very small (close to 0%), and samples are very accurate (i.e. 1e-6), the algorithm would iterate for a long time trying to find the best solution when indeed there is no need to do that if a reasonable threshold has already been reached. Because of this behaviour the stop threshold can be set to a value much lower than the one typically used in RANSAC, and yet the algorithm could still produce even smaller thresholds in estimated results.

Parameters:

stopThreshold - stop threshold to stop the algorithm prematurely when a certain accuracy has been reached.

Throws:

IllegalArgumentException - if provided value is zero or negative.

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,RssiReading<? extends RadioSource>,RobustRssiPositionEstimatorListener<com.irurueta.geometry.Point3D>>

Returns:

method being used for robust estimation.

init

private void init()

Initializes robust lateration solver.

internalSetSourceQualityScores

private void internalSetSourceQualityScores(double[] sourceQualityScores)

Sets quality scores corresponding to each provided located radio source. This method is used internally and does not check whether instance is locked or not.

Parameters:

sourceQualityScores - quality scores to be set.

Throws:

IllegalArgumentException - if provided quality scores length is smaller than 3 samples.

internalSetFingerprintReadingsQualityScores

private void internalSetFingerprintReadingsQualityScores(double[] fingerprintReadingsQualityScores)

Sets quality scores corresponding to each provided reading within provided fingerprint. This method is used internally and does not check whether instance is locked or not.

Parameters:

fingerprintReadingsQualityScores - quality scores to be set.

Throws:

IllegalArgumentException - if provided quality scores length is smaller than 3 samples.