Package com.irurueta.navigation.indoor.radiosource

Class LMedSRobustRangingAndRssiRadioSourceEstimator3D<S extends RadioSource>

java.lang.Object

com.irurueta.navigation.indoor.radiosource.RobustRadioSourceEstimator<com.irurueta.geometry.Point3D,RangingAndRssiReadingLocated<S,com.irurueta.geometry.Point3D>,RobustRangingAndRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D>>

com.irurueta.navigation.indoor.radiosource.RobustRangingAndRssiRadioSourceEstimator<S,com.irurueta.geometry.Point3D>

com.irurueta.navigation.indoor.radiosource.RobustRangingAndRssiRadioSourceEstimator3D<S>

com.irurueta.navigation.indoor.radiosource.LMedSRobustRangingAndRssiRadioSourceEstimator3D<S>

Type Parameters:

S - a RadioSource type.

public class LMedSRobustRangingAndRssiRadioSourceEstimator3D<S extends RadioSource>
extends RobustRangingAndRssiRadioSourceEstimator3D<S>

Robustly estimate 3D position, transmitted power and path-loss exponent of a radio source (e.g. Wi-Fi access point or bluetooth beacon), by discarding outliers using LMedS algorithm and assuming that the ranging data is available to obtain position with greater accuracy and that the radio source emits isotropically following the expression below: Pr = Pt*Gt*Gr*lambda^2 / (4*pi*d)^2, where Pr is the received power (expressed in mW), Gt is the Gain of the transmission antenna Gr is the Gain of the receiver antenna d is the distance between emitter and receiver and lambda is the wavelength and is equal to: lambda = c / f, where c is the speed of light and f is the carrier frequency of the radio signal. Because usually information about the antenna of the radio source cannot be retrieved (because many measurements are made on unknown devices where physical access is not possible), this implementation will estimate the equivalent transmitted power as: Pte = Pt * Gt * Gr. If Readings contain RSSI standard deviations, those values will be used, otherwise it will be assumed an RSSI standard deviation of 1 dB.

Nested Class Summary

Nested classes/interfaces inherited from class com.irurueta.navigation.indoor.radiosource.RobustRangingAndRssiRadioSourceEstimator

RobustRangingAndRssiRadioSourceEstimator.Solution<P extends com.irurueta.geometry.Point<?>>

Field Summary

Fields

Modifier and Type	Field	Description
static final double	DEFAULT_STOP_THRESHOLD	Default value to be used for stop threshold.
static final double	MIN_STOP_THRESHOLD	Minimum allowed stop threshold value.
private double	stopThreshold	Threshold to be used to keep the algorithm iterating in case that best estimated threshold using median of residuals is not small enough.

Fields inherited from class com.irurueta.navigation.indoor.radiosource.RobustRangingAndRssiRadioSourceEstimator3D

innerEstimator

Fields inherited from class com.irurueta.navigation.indoor.radiosource.RobustRangingAndRssiRadioSourceEstimator

DEFAULT_USE_READING_POSITION_COVARIANCES, estimatedPathLossExponent, estimatedPathLossExponentVariance, estimatedTransmittedPowerdBm, estimatedTransmittedPowerVariance, initialPathLossExponent, initialPosition, initialTransmittedPowerdBm, pathLossEstimationEnabled, transmittedPowerEstimationEnabled, useReadingPositionCovariances

Fields inherited from class com.irurueta.navigation.indoor.radiosource.RobustRadioSourceEstimator

confidence, covariance, DEFAULT_CONFIDENCE, DEFAULT_KEEP_COVARIANCE, DEFAULT_MAX_ITERATIONS, DEFAULT_PROGRESS_DELTA, DEFAULT_REFINE_RESULT, DEFAULT_ROBUST_METHOD, estimatedPosition, estimatedPositionCovariance, inliersData, keepCovariance, listener, locked, MAX_CONFIDENCE, MAX_PROGRESS_DELTA, maxIterations, MIN_CONFIDENCE, MIN_ITERATIONS, MIN_PROGRESS_DELTA, preliminarySubsetSize, progressDelta, readings, refineResult

Constructor Summary

Constructors

Constructor	Description
LMedSRobustRangingAndRssiRadioSourceEstimator3D()	Constructor.
LMedSRobustRangingAndRssiRadioSourceEstimator3D(com.irurueta.geometry.Point3D initialPosition)	Constructor.
LMedSRobustRangingAndRssiRadioSourceEstimator3D(com.irurueta.geometry.Point3D initialPosition, RobustRangingAndRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)	Constructor.
LMedSRobustRangingAndRssiRadioSourceEstimator3D(com.irurueta.geometry.Point3D initialPosition, Double initialTransmittedPowerdBm)	Constructor.
LMedSRobustRangingAndRssiRadioSourceEstimator3D(com.irurueta.geometry.Point3D initialPosition, Double initialTransmittedPowerdBm, double initialPathLossExponent)	Constructor.
LMedSRobustRangingAndRssiRadioSourceEstimator3D(com.irurueta.geometry.Point3D initialPosition, Double initialTransmittedPowerdBm, double initialPathLossExponent, RobustRangingAndRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)	Constructor.
LMedSRobustRangingAndRssiRadioSourceEstimator3D(com.irurueta.geometry.Point3D initialPosition, Double initialTransmittedPowerdBm, RobustRangingAndRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)	Constructor.
LMedSRobustRangingAndRssiRadioSourceEstimator3D(RobustRangingAndRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)	Constructor.
LMedSRobustRangingAndRssiRadioSourceEstimator3D(Double initialTransmittedPowerdBm)	Constructor.
LMedSRobustRangingAndRssiRadioSourceEstimator3D(Double initialTransmittedPowerdBm, RobustRangingAndRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)	Constructor.
LMedSRobustRangingAndRssiRadioSourceEstimator3D(List<? extends RangingAndRssiReadingLocated<S,com.irurueta.geometry.Point3D>> readings)	Constructor.
LMedSRobustRangingAndRssiRadioSourceEstimator3D(List<? extends RangingAndRssiReadingLocated<S,com.irurueta.geometry.Point3D>> readings, com.irurueta.geometry.Point3D initialPosition)	Constructor.
LMedSRobustRangingAndRssiRadioSourceEstimator3D(List<? extends RangingAndRssiReadingLocated<S,com.irurueta.geometry.Point3D>> readings, com.irurueta.geometry.Point3D initialPosition, RobustRangingAndRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)	Constructor.
LMedSRobustRangingAndRssiRadioSourceEstimator3D(List<? extends RangingAndRssiReadingLocated<S,com.irurueta.geometry.Point3D>> readings, com.irurueta.geometry.Point3D initialPosition, Double initialTransmittedPowerdBm)	Constructor.
LMedSRobustRangingAndRssiRadioSourceEstimator3D(List<? extends RangingAndRssiReadingLocated<S,com.irurueta.geometry.Point3D>> readings, com.irurueta.geometry.Point3D initialPosition, Double initialTransmittedPowerdBm, double initialPathLossExponent)	Constructor.
LMedSRobustRangingAndRssiRadioSourceEstimator3D(List<? extends RangingAndRssiReadingLocated<S,com.irurueta.geometry.Point3D>> readings, com.irurueta.geometry.Point3D initialPosition, Double initialTransmittedPowerdBm, double initialPathLossExponent, RobustRangingAndRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)	Constructor.
LMedSRobustRangingAndRssiRadioSourceEstimator3D(List<? extends RangingAndRssiReadingLocated<S,com.irurueta.geometry.Point3D>> readings, com.irurueta.geometry.Point3D initialPosition, Double initialTransmittedPowerdBm, RobustRangingAndRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)	Constructor.
LMedSRobustRangingAndRssiRadioSourceEstimator3D(List<? extends RangingAndRssiReadingLocated<S,com.irurueta.geometry.Point3D>> readings, RobustRangingAndRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)	Constructor.
LMedSRobustRangingAndRssiRadioSourceEstimator3D(List<? extends RangingAndRssiReadingLocated<S,com.irurueta.geometry.Point3D>> readings, Double initialTransmittedPowerdBm)	Constructor.
LMedSRobustRangingAndRssiRadioSourceEstimator3D(List<? extends RangingAndRssiReadingLocated<S,com.irurueta.geometry.Point3D>> readings, Double initialTransmittedPowerdBm, RobustRangingAndRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)	Constructor.

Method Summary

Modifier and Type	Method	Description
void	estimate()	Robustly estimates position, transmitted power and path-loss exponent for a radio source.
com.irurueta.numerical.robust.RobustEstimatorMethod	getMethod()	Returns method being used for robust estimation.
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.
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.radiosource.RobustRangingAndRssiRadioSourceEstimator3D

attemptRefine, 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, 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, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, getEstimatedRadioSource, getMinReadings, getNumberOfDimensions, isHomogeneousRangingLinearSolverUsed, setHomogeneousRangingLinearSolverUsed, solvePreliminarySolutions

Methods inherited from class com.irurueta.navigation.indoor.radiosource.RobustRangingAndRssiRadioSourceEstimator

getEstimatedPathLossExponent, getEstimatedPathLossExponentVariance, getEstimatedTransmittedPower, getEstimatedTransmittedPowerdBm, getEstimatedTransmittedPowerVariance, getInitialPathLossExponent, getInitialPosition, getInitialTransmittedPower, getInitialTransmittedPowerdBm, getUseReadingPositionCovariance, isPathLossEstimationEnabled, isReady, isTransmittedPowerEstimationEnabled, residual, setInitialPathLossExponent, setInitialPosition, setInitialTransmittedPower, setInitialTransmittedPowerdBm, setPathLossEstimationEnabled, setTransmittedPowerEstimationEnabled, setUseReadingPositionCovariances

Methods inherited from class com.irurueta.navigation.indoor.radiosource.RobustRadioSourceEstimator

areValidReadings, getConfidence, getCovariance, getEstimatedPosition, getEstimatedPositionCovariance, getInliersData, getListener, getMaxIterations, getPreliminarySubsetSize, getProgressDelta, getQualityScores, getReadings, internalSetReadings, isCovarianceKept, isLocked, isResultRefined, setConfidence, setCovarianceKept, setListener, setMaxIterations, setPreliminarySubsetSize, setProgressDelta, setQualityScores, setReadings, setResultRefined

Methods inherited from class java.lang.Object

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

Field Details

DEFAULT_STOP_THRESHOLD

public static final double DEFAULT_STOP_THRESHOLD

Default value to be used for stop threshold. Stop threshold can be used to avoid keeping the algorithm unnecessarily 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 iterating 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.

See Also:

• Constant Field Values

MIN_STOP_THRESHOLD

public static final double MIN_STOP_THRESHOLD

Minimum allowed stop threshold value.

See Also:

• Constant Field Values

stopThreshold

private double stopThreshold

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 iterating 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.

Constructor Details

LMedSRobustRangingAndRssiRadioSourceEstimator3D

public LMedSRobustRangingAndRssiRadioSourceEstimator3D()

Constructor.

LMedSRobustRangingAndRssiRadioSourceEstimator3D

public LMedSRobustRangingAndRssiRadioSourceEstimator3D(List<? extends RangingAndRssiReadingLocated<S,com.irurueta.geometry.Point3D>> readings)

Constructor. Sets signal readings belonging to the same radio source.

Parameters:

readings - signal readings belonging to the same radio source.

Throws:

IllegalArgumentException - if readings are not valid.

LMedSRobustRangingAndRssiRadioSourceEstimator3D

public LMedSRobustRangingAndRssiRadioSourceEstimator3D(RobustRangingAndRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)

Constructor.

Parameters:

listener - listener in charge of attending events raised by this instance.

LMedSRobustRangingAndRssiRadioSourceEstimator3D

public LMedSRobustRangingAndRssiRadioSourceEstimator3D(List<? extends RangingAndRssiReadingLocated<S,com.irurueta.geometry.Point3D>> readings,
 RobustRangingAndRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)

Constructor. Sets signal readings belonging to the same radio source.

Parameters:

readings - signal readings belonging to the same radio source.

listener - listener in charge of attending events raised by this instance.

Throws:

IllegalArgumentException - if readings are not valid.

LMedSRobustRangingAndRssiRadioSourceEstimator3D

public LMedSRobustRangingAndRssiRadioSourceEstimator3D(List<? extends RangingAndRssiReadingLocated<S,com.irurueta.geometry.Point3D>> readings,
 com.irurueta.geometry.Point3D initialPosition)

Constructor. Sets signal readings belonging to the same radio source.

Parameters:

readings - signal readings belonging to the same radio source.

initialPosition - initial position to start the estimation of radio source position.

Throws:

IllegalArgumentException - if readings are not valid.

LMedSRobustRangingAndRssiRadioSourceEstimator3D

public LMedSRobustRangingAndRssiRadioSourceEstimator3D(com.irurueta.geometry.Point3D initialPosition)

Constructor.

Parameters:

initialPosition - initial position to start the estimation of radio source position.

LMedSRobustRangingAndRssiRadioSourceEstimator3D

public LMedSRobustRangingAndRssiRadioSourceEstimator3D(com.irurueta.geometry.Point3D initialPosition,
 RobustRangingAndRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)

Constructor.

Parameters:

initialPosition - initial position to start the estimation of radio source position.

listener - listener in charge of attending events raised by this instance.

LMedSRobustRangingAndRssiRadioSourceEstimator3D

public LMedSRobustRangingAndRssiRadioSourceEstimator3D(List<? extends RangingAndRssiReadingLocated<S,com.irurueta.geometry.Point3D>> readings,
 com.irurueta.geometry.Point3D initialPosition,
 RobustRangingAndRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)

Constructor. Sets signal readings belonging to the same radio source.

Parameters:

readings - signal readings belonging to the same radio source.

initialPosition - initial position to start the estimation of radio source position.

listener - listener in charge of attending events raised by this instance.

Throws:

IllegalArgumentException - if readings are not valid.

LMedSRobustRangingAndRssiRadioSourceEstimator3D

public LMedSRobustRangingAndRssiRadioSourceEstimator3D(Double initialTransmittedPowerdBm)

Constructor.

Parameters:

initialTransmittedPowerdBm - initial transmitted power to start the estimation of radio source transmitted power (expressed in dBm's)

LMedSRobustRangingAndRssiRadioSourceEstimator3D

public LMedSRobustRangingAndRssiRadioSourceEstimator3D(List<? extends RangingAndRssiReadingLocated<S,com.irurueta.geometry.Point3D>> readings,
 Double initialTransmittedPowerdBm)

Constructor. Sets signal readings belonging to the same radio source.

Parameters:

readings - signal readings belonging to the same radio source.

initialTransmittedPowerdBm - initial transmitted power to start the estimation of radio source transmitted power (expressed in dBm's)

Throws:

IllegalArgumentException - if readings are not valid.

LMedSRobustRangingAndRssiRadioSourceEstimator3D

public LMedSRobustRangingAndRssiRadioSourceEstimator3D(Double initialTransmittedPowerdBm,
 RobustRangingAndRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)

Constructor.

Parameters:

initialTransmittedPowerdBm - initial transmitted power to start the estimation of radio source transmitted power (expressed in dBm's)

listener - listener in charge of attending events raised by this instance.

LMedSRobustRangingAndRssiRadioSourceEstimator3D

public LMedSRobustRangingAndRssiRadioSourceEstimator3D(List<? extends RangingAndRssiReadingLocated<S,com.irurueta.geometry.Point3D>> readings,
 Double initialTransmittedPowerdBm,
 RobustRangingAndRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)

Constructor. Sets signal readings belonging to the same radio source.

Parameters:

readings - signal readings belonging to the same radio source.

initialTransmittedPowerdBm - initial transmitted power to start the estimation of radio source transmitted power (expressed in dBm's)

listener - listener in charge of attending events raised by this instance.

Throws:

IllegalArgumentException - if readings are not valid.

LMedSRobustRangingAndRssiRadioSourceEstimator3D

public LMedSRobustRangingAndRssiRadioSourceEstimator3D(List<? extends RangingAndRssiReadingLocated<S,com.irurueta.geometry.Point3D>> readings,
 com.irurueta.geometry.Point3D initialPosition,
 Double initialTransmittedPowerdBm)

Constructor. Sets signal readings belonging to the same radio source.

Parameters:

readings - signal readings belonging to the same radio source.

initialPosition - initial position to start the estimation of radio source position.

initialTransmittedPowerdBm - initial transmitted power to start the estimation of radio source transmitted power (expressed in dBm's).

Throws:

IllegalArgumentException - if readings are not valid.

LMedSRobustRangingAndRssiRadioSourceEstimator3D

public LMedSRobustRangingAndRssiRadioSourceEstimator3D(com.irurueta.geometry.Point3D initialPosition,
 Double initialTransmittedPowerdBm)

Constructor.

Parameters:

initialPosition - initial position to start the estimation of radio source position.

initialTransmittedPowerdBm - initial transmitted power to start the estimation of radio source transmitted power (expressed in dBm's).

LMedSRobustRangingAndRssiRadioSourceEstimator3D

public LMedSRobustRangingAndRssiRadioSourceEstimator3D(com.irurueta.geometry.Point3D initialPosition,
 Double initialTransmittedPowerdBm,
 RobustRangingAndRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)

Constructor.

Parameters:

initialPosition - initial position to start the estimation of radio source position.

initialTransmittedPowerdBm - initial transmitted power to start the estimation of radio source transmitted power (expressed in dBm's).

listener - in charge of attending events raised by this instance.

LMedSRobustRangingAndRssiRadioSourceEstimator3D

public LMedSRobustRangingAndRssiRadioSourceEstimator3D(List<? extends RangingAndRssiReadingLocated<S,com.irurueta.geometry.Point3D>> readings,
 com.irurueta.geometry.Point3D initialPosition,
 Double initialTransmittedPowerdBm,
 RobustRangingAndRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)

Constructor. Sets signal readings belonging to the same radio source.

Parameters:

readings - signal readings belonging to the same radio source.

initialPosition - initial position to start the estimation of radio source position.

initialTransmittedPowerdBm - initial transmitted power to start the estimation of radio source transmitted power (expressed in dBm's).

listener - listener in charge of attending events raised by this instance.

Throws:

IllegalArgumentException - if readings are not valid.

LMedSRobustRangingAndRssiRadioSourceEstimator3D

public LMedSRobustRangingAndRssiRadioSourceEstimator3D(List<? extends RangingAndRssiReadingLocated<S,com.irurueta.geometry.Point3D>> readings,
 com.irurueta.geometry.Point3D initialPosition,
 Double initialTransmittedPowerdBm,
 double initialPathLossExponent)

Constructor. Sets signal readings belonging to the same radio source.

Parameters:

readings - signal readings belonging to the same radio source.

initialPosition - initial position to start the estimation of radio source position.

initialTransmittedPowerdBm - initial transmitted power to start the estimation of radio source transmitted power (expressed in dBm's).

initialPathLossExponent - initial path loss exponent. A typical value is 2.0.

Throws:

IllegalArgumentException - if readings are not valid.

LMedSRobustRangingAndRssiRadioSourceEstimator3D

public LMedSRobustRangingAndRssiRadioSourceEstimator3D(com.irurueta.geometry.Point3D initialPosition,
 Double initialTransmittedPowerdBm,
 double initialPathLossExponent)

Constructor.

Parameters:

initialPosition - initial position to start the estimation of radio source position.

initialTransmittedPowerdBm - initial transmitted power to start the estimation of radio source transmitted power (expressed in dBm's).

initialPathLossExponent - initial path loss exponent. A typical value is 2.0.

LMedSRobustRangingAndRssiRadioSourceEstimator3D

public LMedSRobustRangingAndRssiRadioSourceEstimator3D(com.irurueta.geometry.Point3D initialPosition,
 Double initialTransmittedPowerdBm,
 double initialPathLossExponent,
 RobustRangingAndRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)

Constructor.

Parameters:

initialPosition - initial position to start the estimation of radio source position.

initialTransmittedPowerdBm - initial transmitted power to start the estimation of radio source transmitted power (expressed in dBm's).

initialPathLossExponent - initial path loss exponent. A typical value is 2.0.

listener - listener in charge of attending events raised by this instance.

LMedSRobustRangingAndRssiRadioSourceEstimator3D

public LMedSRobustRangingAndRssiRadioSourceEstimator3D(List<? extends RangingAndRssiReadingLocated<S,com.irurueta.geometry.Point3D>> readings,
 com.irurueta.geometry.Point3D initialPosition,
 Double initialTransmittedPowerdBm,
 double initialPathLossExponent,
 RobustRangingAndRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)

Constructor. Sets signal readings belonging to the same radio source.

Parameters:

readings - signal readings belonging to the same radio source.

initialPosition - initial position to start the estimation of radio source position.

initialTransmittedPowerdBm - initial transmitted power to start the estimation of radio source transmitted power (expressed in dBm's).

initialPathLossExponent - initial path loss exponent. A typical value is 2.0.

listener - listener in charge of attending events raised by this instance.

Throws:

IllegalArgumentException - if readings are not valid.

Method Details

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.

estimate

public void estimate()
              throws com.irurueta.navigation.LockedException,
com.irurueta.navigation.NotReadyException,
com.irurueta.numerical.robust.RobustEstimatorException

Robustly estimates position, transmitted power and path-loss exponent for a radio source.

Specified by:

estimate in class RobustRadioSourceEstimator<com.irurueta.geometry.Point3D,RangingAndRssiReadingLocated<S extends RadioSource,com.irurueta.geometry.Point3D>,RobustRangingAndRssiRadioSourceEstimatorListener<S extends RadioSource,com.irurueta.geometry.Point3D>>

Throws:

com.irurueta.navigation.LockedException - if instance is busy during estimation.

com.irurueta.navigation.NotReadyException - if estimator is not ready.

com.irurueta.numerical.robust.RobustEstimatorException - if estimation fails for any reason (i.e. numerical instability, no solution available, etc).

getMethod

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

Returns method being used for robust estimation.

Specified by:

getMethod in class RobustRangingAndRssiRadioSourceEstimator<S extends RadioSource,com.irurueta.geometry.Point3D>

Returns:

method being used for robust estimation.