Package com.irurueta.navigation.indoor.position

Class SequentialRobustRangingAndRssiPositionEstimator3D

java.lang.Object

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

com.irurueta.navigation.indoor.position.SequentialRobustRangingAndRssiPositionEstimator3D

public class SequentialRobustRangingAndRssiPositionEstimator3D
extends SequentialRobustRangingAndRssiPositionEstimator<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.

Field Summary

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

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, rssiEstimator, rssiPreliminarySubsetSize, rssiRobustMethod

Constructor Summary

Constructors

Constructor	Description
SequentialRobustRangingAndRssiPositionEstimator3D()	Constructor.
SequentialRobustRangingAndRssiPositionEstimator3D(double[] sourceQualityScores, double[] fingerprintReadingQualityScores)	Constructor.
SequentialRobustRangingAndRssiPositionEstimator3D(double[] sourceQualityScores, double[] fingerprintReadingQualityScores, SequentialRobustRangingAndRssiPositionEstimatorListener<com.irurueta.geometry.Point3D> listener)	Constructor.
SequentialRobustRangingAndRssiPositionEstimator3D(double[] sourceQualityScores, double[] fingerprintReadingQualityScores, RangingAndRssiFingerprint<? extends RadioSource,? extends RangingAndRssiReading<? extends RadioSource>> fingerprint)	Constructor.
SequentialRobustRangingAndRssiPositionEstimator3D(double[] sourceQualityScores, double[] fingerprintReadingQualityScores, RangingAndRssiFingerprint<? extends RadioSource,? extends RangingAndRssiReading<? extends RadioSource>> fingerprint, SequentialRobustRangingAndRssiPositionEstimatorListener<com.irurueta.geometry.Point3D> listener)	Constructor.
SequentialRobustRangingAndRssiPositionEstimator3D(double[] sourceQualityScores, double[] fingerprintReadingQualityScores, List<? extends RadioSourceLocated<com.irurueta.geometry.Point3D>> sources)	Constructor.
SequentialRobustRangingAndRssiPositionEstimator3D(double[] sourceQualityScores, double[] fingerprintReadingQualityScores, List<? extends RadioSourceLocated<com.irurueta.geometry.Point3D>> sources, SequentialRobustRangingAndRssiPositionEstimatorListener<com.irurueta.geometry.Point3D> listener)	Constructor.
SequentialRobustRangingAndRssiPositionEstimator3D(double[] sourceQualityScores, double[] fingerprintReadingQualityScores, List<? extends RadioSourceLocated<com.irurueta.geometry.Point3D>> sources, RangingAndRssiFingerprint<? extends RadioSource,? extends RangingAndRssiReading<? extends RadioSource>> fingerprint)	Constructor.
SequentialRobustRangingAndRssiPositionEstimator3D(double[] sourceQualityScores, double[] fingerprintReadingQualityScores, List<? extends RadioSourceLocated<com.irurueta.geometry.Point3D>> sources, RangingAndRssiFingerprint<? extends RadioSource,? extends RangingAndRssiReading<? extends RadioSource>> fingerprint, SequentialRobustRangingAndRssiPositionEstimatorListener<com.irurueta.geometry.Point3D> listener)	Constructor.
SequentialRobustRangingAndRssiPositionEstimator3D(SequentialRobustRangingAndRssiPositionEstimatorListener<com.irurueta.geometry.Point3D> listener)	Constructor.
SequentialRobustRangingAndRssiPositionEstimator3D(RangingAndRssiFingerprint<? extends RadioSource,? extends RangingAndRssiReading<? extends RadioSource>> fingerprint)	Constructor.
SequentialRobustRangingAndRssiPositionEstimator3D(RangingAndRssiFingerprint<? extends RadioSource,? extends RangingAndRssiReading<? extends RadioSource>> fingerprint, SequentialRobustRangingAndRssiPositionEstimatorListener<com.irurueta.geometry.Point3D> listener)	Constructor.
SequentialRobustRangingAndRssiPositionEstimator3D(List<? extends RadioSourceLocated<com.irurueta.geometry.Point3D>> sources)	Constructor.
SequentialRobustRangingAndRssiPositionEstimator3D(List<? extends RadioSourceLocated<com.irurueta.geometry.Point3D>> sources, SequentialRobustRangingAndRssiPositionEstimatorListener<com.irurueta.geometry.Point3D> listener)	Constructor.
SequentialRobustRangingAndRssiPositionEstimator3D(List<? extends RadioSourceLocated<com.irurueta.geometry.Point3D>> sources, RangingAndRssiFingerprint<? extends RadioSource,? extends RangingAndRssiReading<? extends RadioSource>> fingerprint)	Constructor.
SequentialRobustRangingAndRssiPositionEstimator3D(List<? extends RadioSourceLocated<com.irurueta.geometry.Point3D>> sources, RangingAndRssiFingerprint<? extends RadioSource,? extends RangingAndRssiReading<? extends RadioSource>> fingerprint, SequentialRobustRangingAndRssiPositionEstimatorListener<com.irurueta.geometry.Point3D> listener)	Constructor.

Method Summary

Modifier and Type	Method	Description
protected void	buildEstimators()	Builds ranging and RSSI internal estimators.
int	getMinRequiredSources()	Gets minimum required number of located radio sources to perform lateration.
int	getNumberOfDimensions()	Gets number of dimensions of provided points.

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

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

SequentialRobustRangingAndRssiPositionEstimator3D

public SequentialRobustRangingAndRssiPositionEstimator3D()

Constructor.

SequentialRobustRangingAndRssiPositionEstimator3D

public SequentialRobustRangingAndRssiPositionEstimator3D(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.

SequentialRobustRangingAndRssiPositionEstimator3D

public SequentialRobustRangingAndRssiPositionEstimator3D(RangingAndRssiFingerprint<? extends RadioSource,? extends RangingAndRssiReading<? 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.

SequentialRobustRangingAndRssiPositionEstimator3D

public SequentialRobustRangingAndRssiPositionEstimator3D(List<? extends RadioSourceLocated<com.irurueta.geometry.Point3D>> sources,
 RangingAndRssiFingerprint<? extends RadioSource,? extends RangingAndRssiReading<? 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.

SequentialRobustRangingAndRssiPositionEstimator3D

public SequentialRobustRangingAndRssiPositionEstimator3D(SequentialRobustRangingAndRssiPositionEstimatorListener<com.irurueta.geometry.Point3D> listener)

Constructor.

Parameters:

listener - listener in charge of handling events.

SequentialRobustRangingAndRssiPositionEstimator3D

public SequentialRobustRangingAndRssiPositionEstimator3D(List<? extends RadioSourceLocated<com.irurueta.geometry.Point3D>> sources,
 SequentialRobustRangingAndRssiPositionEstimatorListener<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.

SequentialRobustRangingAndRssiPositionEstimator3D

public SequentialRobustRangingAndRssiPositionEstimator3D(RangingAndRssiFingerprint<? extends RadioSource,? extends RangingAndRssiReading<? extends RadioSource>> fingerprint,
 SequentialRobustRangingAndRssiPositionEstimatorListener<com.irurueta.geometry.Point3D> listener)

Constructor.

Parameters:

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

listener - listener in charge of handling events.

Throws:

IllegalArgumentException - if provided fingerprint is null.

SequentialRobustRangingAndRssiPositionEstimator3D

public SequentialRobustRangingAndRssiPositionEstimator3D(List<? extends RadioSourceLocated<com.irurueta.geometry.Point3D>> sources,
 RangingAndRssiFingerprint<? extends RadioSource,? extends RangingAndRssiReading<? extends RadioSource>> fingerprint,
 SequentialRobustRangingAndRssiPositionEstimatorListener<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.

SequentialRobustRangingAndRssiPositionEstimator3D

public SequentialRobustRangingAndRssiPositionEstimator3D(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.

SequentialRobustRangingAndRssiPositionEstimator3D

public SequentialRobustRangingAndRssiPositionEstimator3D(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.

SequentialRobustRangingAndRssiPositionEstimator3D

public SequentialRobustRangingAndRssiPositionEstimator3D(double[] sourceQualityScores,
 double[] fingerprintReadingQualityScores,
 RangingAndRssiFingerprint<? extends RadioSource,? extends RangingAndRssiReading<? 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.

SequentialRobustRangingAndRssiPositionEstimator3D

public SequentialRobustRangingAndRssiPositionEstimator3D(double[] sourceQualityScores,
 double[] fingerprintReadingQualityScores,
 List<? extends RadioSourceLocated<com.irurueta.geometry.Point3D>> sources,
 RangingAndRssiFingerprint<? extends RadioSource,? extends RangingAndRssiReading<? 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.

SequentialRobustRangingAndRssiPositionEstimator3D

public SequentialRobustRangingAndRssiPositionEstimator3D(double[] sourceQualityScores,
 double[] fingerprintReadingQualityScores,
 SequentialRobustRangingAndRssiPositionEstimatorListener<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.

SequentialRobustRangingAndRssiPositionEstimator3D

public SequentialRobustRangingAndRssiPositionEstimator3D(double[] sourceQualityScores,
 double[] fingerprintReadingQualityScores,
 List<? extends RadioSourceLocated<com.irurueta.geometry.Point3D>> sources,
 SequentialRobustRangingAndRssiPositionEstimatorListener<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.

SequentialRobustRangingAndRssiPositionEstimator3D

public SequentialRobustRangingAndRssiPositionEstimator3D(double[] sourceQualityScores,
 double[] fingerprintReadingQualityScores,
 RangingAndRssiFingerprint<? extends RadioSource,? extends RangingAndRssiReading<? extends RadioSource>> fingerprint,
 SequentialRobustRangingAndRssiPositionEstimatorListener<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 located radio sources.

listener - listener in charge of handling events.

Throws:

IllegalArgumentException - if provided fingerprint is null.

SequentialRobustRangingAndRssiPositionEstimator3D

public SequentialRobustRangingAndRssiPositionEstimator3D(double[] sourceQualityScores,
 double[] fingerprintReadingQualityScores,
 List<? extends RadioSourceLocated<com.irurueta.geometry.Point3D>> sources,
 RangingAndRssiFingerprint<? extends RadioSource,? extends RangingAndRssiReading<? extends RadioSource>> fingerprint,
 SequentialRobustRangingAndRssiPositionEstimatorListener<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

getNumberOfDimensions

public int getNumberOfDimensions()

Gets number of dimensions of provided points.

Specified by:

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

Returns:

number of dimensions of provided points.

getMinRequiredSources

public int getMinRequiredSources()

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

Specified by:

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

Returns:

minimum required number of located radio sources to perform lateration.

buildEstimators

protected void buildEstimators()

Builds ranging and RSSI internal estimators.

Specified by:

buildEstimators in class SequentialRobustRangingAndRssiPositionEstimator<com.irurueta.geometry.Point3D>