Package com.irurueta.navigation.indoor.position

Class SequentialRobustMixedPositionEstimator3D

java.lang.Object

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

com.irurueta.navigation.indoor.position.SequentialRobustMixedPositionEstimator3D

public class SequentialRobustMixedPositionEstimator3D
extends SequentialRobustMixedPositionEstimator<com.irurueta.geometry.Point3D>

Robustly estimates 3D position, using RSSI readings first to obtain an initial coarse position estimation, and then ranging readings to refine such estimation.

This implementation is like SequentialRobustRangingAndRssiPositionEstimator but allows mixing different kinds of readings (ranging, RSSI or ranging+RSSI).

Field Summary

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

DEFAULT_CONFIDENCE, DEFAULT_EVENLY_DISTRIBUTE_RANGING_READINGS, DEFAULT_EVENLY_DISTRIBUTE_RSSI_READINGS, DEFAULT_KEEP_COVARIANCE, DEFAULT_MAX_ITERATIONS, DEFAULT_PROGRESS_DELTA, DEFAULT_RANGING_ROBUST_METHOD, DEFAULT_REFINE_RANGING_PRELIMINARY_SOLUTIONS, DEFAULT_REFINE_RESULT, DEFAULT_REFINE_RSSI_PRELIMINARY_SOLUTIONS, DEFAULT_RSSI_ROBUST_METHOD, DEFAULT_USE_RANGING_HOMOGENEOUS_LINEAR_SOLVER, DEFAULT_USE_RANGING_LINEAR_SOLVER, DEFAULT_USE_RANGING_RADIO_SOURCE_POSITION_COVARIANCE, DEFAULT_USE_RSSI_HOMOGENEOUS_LINEAR_SOLVER, DEFAULT_USE_RSSI_LINEAR_SOLVER, DEFAULT_USE_RSSI_RADIO_SOURCE_POSITION_COVARIANCE, FALLBACK_DISTANCE_STANDARD_DEVIATION, MAX_CONFIDENCE, MAX_PROGRESS_DELTA, MIN_CONFIDENCE, MIN_ITERATIONS, MIN_PROGRESS_DELTA, rangingEstimator, rangingPreliminarySubsetSize, rangingRobustMethod, rangingThreshold, rssiEstimator, rssiPreliminarySubsetSize, rssiRobustMethod, rssiThreshold

Constructor Summary

Constructors

Constructor	Description
SequentialRobustMixedPositionEstimator3D()	Constructor.
SequentialRobustMixedPositionEstimator3D(double[] sourceQualityScores, double[] fingerprintReadingQualityScores)	Constructor.
SequentialRobustMixedPositionEstimator3D(double[] sourceQualityScores, double[] fingerprintReadingQualityScores, Fingerprint<? extends RadioSource,? extends Reading<? extends RadioSource>> fingerprint)	Constructor.
SequentialRobustMixedPositionEstimator3D(double[] sourceQualityScores, double[] fingerprintReadingQualityScores, Fingerprint<? extends RadioSource,? extends Reading<? extends RadioSource>> fingerprint, SequentialRobustMixedPositionEstimatorListener<com.irurueta.geometry.Point3D> listener)	Constructor.
SequentialRobustMixedPositionEstimator3D(double[] sourceQualityScores, double[] fingerprintReadingQualityScores, SequentialRobustMixedPositionEstimatorListener<com.irurueta.geometry.Point3D> listener)	Constructor.
SequentialRobustMixedPositionEstimator3D(double[] sourceQualityScores, double[] fingerprintReadingQualityScores, List<? extends RadioSourceLocated<com.irurueta.geometry.Point3D>> sources)	Constructor.
SequentialRobustMixedPositionEstimator3D(double[] sourceQualityScores, double[] fingerprintReadingQualityScores, List<? extends RadioSourceLocated<com.irurueta.geometry.Point3D>> sources, Fingerprint<? extends RadioSource,? extends Reading<? extends RadioSource>> fingerprint)	Constructor.
SequentialRobustMixedPositionEstimator3D(double[] sourceQualityScores, double[] fingerprintReadingQualityScores, List<? extends RadioSourceLocated<com.irurueta.geometry.Point3D>> sources, Fingerprint<? extends RadioSource,? extends Reading<? extends RadioSource>> fingerprint, SequentialRobustMixedPositionEstimatorListener<com.irurueta.geometry.Point3D> listener)	Constructor.
SequentialRobustMixedPositionEstimator3D(double[] sourceQualityScores, double[] fingerprintReadingQualityScores, List<? extends RadioSourceLocated<com.irurueta.geometry.Point3D>> sources, SequentialRobustMixedPositionEstimatorListener<com.irurueta.geometry.Point3D> listener)	Constructor.
SequentialRobustMixedPositionEstimator3D(Fingerprint<? extends RadioSource,? extends Reading<? extends RadioSource>> fingerprint)	Constructor.
SequentialRobustMixedPositionEstimator3D(Fingerprint<? extends RadioSource,? extends Reading<? extends RadioSource>> fingerprint, SequentialRobustMixedPositionEstimatorListener<com.irurueta.geometry.Point3D> listener)	Constructor.
SequentialRobustMixedPositionEstimator3D(SequentialRobustMixedPositionEstimatorListener<com.irurueta.geometry.Point3D> listener)	Constructor.
SequentialRobustMixedPositionEstimator3D(List<? extends RadioSourceLocated<com.irurueta.geometry.Point3D>> sources)	Constructor.
SequentialRobustMixedPositionEstimator3D(List<? extends RadioSourceLocated<com.irurueta.geometry.Point3D>> sources, Fingerprint<? extends RadioSource,? extends Reading<? extends RadioSource>> fingerprint)	Constructor.
SequentialRobustMixedPositionEstimator3D(List<? extends RadioSourceLocated<com.irurueta.geometry.Point3D>> sources, Fingerprint<? extends RadioSource,? extends Reading<? extends RadioSource>> fingerprint, SequentialRobustMixedPositionEstimatorListener<com.irurueta.geometry.Point3D> listener)	Constructor.
SequentialRobustMixedPositionEstimator3D(List<? extends RadioSourceLocated<com.irurueta.geometry.Point3D>> sources, SequentialRobustMixedPositionEstimatorListener<com.irurueta.geometry.Point3D> listener)	Constructor.

Method Summary

Modifier and Type	Method	Description
protected void	buildRangingEstimator()	Builds ranging internal estimator.
protected void	buildRssiEstimator()	Builds RSSI internal estimator.
int	getMinRequiredSources()	Gets minimum required number of located radio sources to perform lateration.
int	getNumberOfDimensions()	Gets number of dimensions of provided and estimated points.
protected void	setupRangingEstimator()	Setup ranging internal estimator.
protected void	setupRssiEstimator()	Setup RSSI internal estimator.

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

estimate, getCovariance, getDistances, getDistanceStandardDeviations, getEstimatedPosition, getFingerprint, getFingerprintReadingsQualityScores, getInitialPosition, getInliersData, getListener, getPositions, getProgressDelta, getRangingConfidence, getRangingFallbackDistanceStandardDeviation, getRangingMaxIterations, getRangingPreliminarySubsetSize, getRangingRobustMethod, getRangingThreshold, getRssiConfidence, getRssiFallbackDistanceStandardDeviation, getRssiMaxIterations, getRssiPreliminarySubsetSize, getRssiRobustMethod, getRssiThreshold, getSourceQualityScores, getSources, isCovarianceKept, isLocked, isRangingHomogeneousLinearSolverUsed, isRangingLinearSolverUsed, isRangingPreliminarySolutionRefined, isRangingRadioSourcePositionCovarianceUsed, isRangingReadingsEvenlyDistributed, isReady, isResultRefined, isRssiHomogeneousLinearSolverUsed, isRssiLinearSolverUsed, isRssiPreliminarySolutionRefined, isRssiRadioSourcePositionCovarianceUsed, isRssiReadingsEvenlyDistributed, setCovarianceKept, setFingerprint, setFingerprintReadingsQualityScores, setInitialPosition, setListener, setProgressDelta, setRangingConfidence, setRangingFallbackDistanceStandardDeviation, setRangingHomogeneousLinearSolverUsed, setRangingLinearSolverUsed, setRangingMaxIterations, setRangingPreliminarySolutionRefined, setRangingPreliminarySubsetSize, setRangingRadioSourcePositionCovarianceUsed, setRangingReadingsEvenlyDistributed, setRangingRobustMethod, setRangingThreshold, setResultRefined, setRssiConfidence, setRssiFallbackDistanceStandardDeviation, setRssiHomogeneousLinearSolverUsed, setRssiLinearSolverUsed, setRssiMaxIterations, setRssiPreliminarySolutionRefined, setRssiPreliminarySubsetSize, setRssiRadioSourcePositionCovarianceUsed, setRssiReadingsEvenlyDistributed, setRssiRobustMethod, setRssiThreshold, setSourceQualityScores, setSources

Methods inherited from class java.lang.Object

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

Constructor Details

SequentialRobustMixedPositionEstimator3D

public SequentialRobustMixedPositionEstimator3D()

Constructor.

SequentialRobustMixedPositionEstimator3D

public SequentialRobustMixedPositionEstimator3D(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.

SequentialRobustMixedPositionEstimator3D

public SequentialRobustMixedPositionEstimator3D(Fingerprint<? extends RadioSource,? extends Reading<? 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.

SequentialRobustMixedPositionEstimator3D

public SequentialRobustMixedPositionEstimator3D(List<? extends RadioSourceLocated<com.irurueta.geometry.Point3D>> sources,
 Fingerprint<? extends RadioSource,? extends Reading<? 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.

SequentialRobustMixedPositionEstimator3D

public SequentialRobustMixedPositionEstimator3D(SequentialRobustMixedPositionEstimatorListener<com.irurueta.geometry.Point3D> listener)

Constructor.

Parameters:

listener - listener in charge of handling events.

SequentialRobustMixedPositionEstimator3D

public SequentialRobustMixedPositionEstimator3D(List<? extends RadioSourceLocated<com.irurueta.geometry.Point3D>> sources,
 SequentialRobustMixedPositionEstimatorListener<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.

SequentialRobustMixedPositionEstimator3D

public SequentialRobustMixedPositionEstimator3D(Fingerprint<? extends RadioSource,? extends Reading<? extends RadioSource>> fingerprint,
 SequentialRobustMixedPositionEstimatorListener<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.

SequentialRobustMixedPositionEstimator3D

public SequentialRobustMixedPositionEstimator3D(List<? extends RadioSourceLocated<com.irurueta.geometry.Point3D>> sources,
 Fingerprint<? extends RadioSource,? extends Reading<? extends RadioSource>> fingerprint,
 SequentialRobustMixedPositionEstimatorListener<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.

SequentialRobustMixedPositionEstimator3D

public SequentialRobustMixedPositionEstimator3D(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.

SequentialRobustMixedPositionEstimator3D

public SequentialRobustMixedPositionEstimator3D(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.

SequentialRobustMixedPositionEstimator3D

public SequentialRobustMixedPositionEstimator3D(double[] sourceQualityScores,
 double[] fingerprintReadingQualityScores,
 Fingerprint<? extends RadioSource,? extends Reading<? 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 readings at an unknown location for provided located radio sources.

Throws:

IllegalArgumentException - if provided fingerprint is null.

SequentialRobustMixedPositionEstimator3D

public SequentialRobustMixedPositionEstimator3D(double[] sourceQualityScores,
 double[] fingerprintReadingQualityScores,
 List<? extends RadioSourceLocated<com.irurueta.geometry.Point3D>> sources,
 Fingerprint<? extends RadioSource,? extends Reading<? 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 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.

SequentialRobustMixedPositionEstimator3D

public SequentialRobustMixedPositionEstimator3D(double[] sourceQualityScores,
 double[] fingerprintReadingQualityScores,
 SequentialRobustMixedPositionEstimatorListener<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.

SequentialRobustMixedPositionEstimator3D

public SequentialRobustMixedPositionEstimator3D(double[] sourceQualityScores,
 double[] fingerprintReadingQualityScores,
 List<? extends RadioSourceLocated<com.irurueta.geometry.Point3D>> sources,
 SequentialRobustMixedPositionEstimatorListener<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.

SequentialRobustMixedPositionEstimator3D

public SequentialRobustMixedPositionEstimator3D(double[] sourceQualityScores,
 double[] fingerprintReadingQualityScores,
 Fingerprint<? extends RadioSource,? extends Reading<? extends RadioSource>> fingerprint,
 SequentialRobustMixedPositionEstimatorListener<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 readings at an unknown location for provided located radio sources.

listener - listener in charge of handling events.

Throws:

IllegalArgumentException - if provided fingerprint is null.

SequentialRobustMixedPositionEstimator3D

public SequentialRobustMixedPositionEstimator3D(double[] sourceQualityScores,
 double[] fingerprintReadingQualityScores,
 List<? extends RadioSourceLocated<com.irurueta.geometry.Point3D>> sources,
 Fingerprint<? extends RadioSource,? extends Reading<? extends RadioSource>> fingerprint,
 SequentialRobustMixedPositionEstimatorListener<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 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

getNumberOfDimensions

public int getNumberOfDimensions()

Gets number of dimensions of provided and estimated points.

Specified by:

getNumberOfDimensions in class SequentialRobustMixedPositionEstimator<com.irurueta.geometry.Point3D>

Returns:

number of dimensions of provided and estimated points.

getMinRequiredSources

public int getMinRequiredSources()

Gets minimum required number of located radio sources to perform lateration.

Specified by:

getMinRequiredSources in class SequentialRobustMixedPositionEstimator<com.irurueta.geometry.Point3D>

Returns:

minimum required number of located radio sources to perform lateration.

buildRangingEstimator

protected void buildRangingEstimator()

Builds ranging internal estimator.

Specified by:

buildRangingEstimator in class SequentialRobustMixedPositionEstimator<com.irurueta.geometry.Point3D>

buildRssiEstimator

protected void buildRssiEstimator()

Builds RSSI internal estimator.

Specified by:

buildRssiEstimator in class SequentialRobustMixedPositionEstimator<com.irurueta.geometry.Point3D>

setupRangingEstimator

protected void setupRangingEstimator()
                              throws com.irurueta.navigation.LockedException

Setup ranging internal estimator.

Overrides:

setupRangingEstimator in class SequentialRobustMixedPositionEstimator<com.irurueta.geometry.Point3D>

Throws:

com.irurueta.navigation.LockedException - if estimator is locked.

setupRssiEstimator

protected void setupRssiEstimator()
                           throws com.irurueta.navigation.LockedException

Setup RSSI internal estimator.

Overrides:

setupRssiEstimator in class SequentialRobustMixedPositionEstimator<com.irurueta.geometry.Point3D>

Throws:

com.irurueta.navigation.LockedException - if estimator is locked.