Package com.irurueta.navigation.indoor.radiosource

Class MSACRobustRangingAndRssiRadioSourceEstimator3D<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.MSACRobustRangingAndRssiRadioSourceEstimator3D<S>

Type Parameters:

S - a RadioSource type.

public class MSACRobustRangingAndRssiRadioSourceEstimator3D<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 MSAC 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_THRESHOLD	Constant defining default threshold to determine whether samples are inliers or not.
static final double	MIN_THRESHOLD	Minimum value that can be set as threshold.
private double	threshold	Threshold to determine whether samples are inliers or not when testing possible estimation solutions.

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
MSACRobustRangingAndRssiRadioSourceEstimator3D()	Constructor.
MSACRobustRangingAndRssiRadioSourceEstimator3D(com.irurueta.geometry.Point3D initialPosition)	Constructor.
MSACRobustRangingAndRssiRadioSourceEstimator3D(com.irurueta.geometry.Point3D initialPosition, RobustRangingAndRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)	Constructor.
MSACRobustRangingAndRssiRadioSourceEstimator3D(com.irurueta.geometry.Point3D initialPosition, Double initialTransmittedPowerdBm)	Constructor.
MSACRobustRangingAndRssiRadioSourceEstimator3D(com.irurueta.geometry.Point3D initialPosition, Double initialTransmittedPowerdBm, double initialPathLossExponent)	Constructor.
MSACRobustRangingAndRssiRadioSourceEstimator3D(com.irurueta.geometry.Point3D initialPosition, Double initialTransmittedPowerdBm, double initialPathLossExponent, RobustRangingAndRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)	Constructor.
MSACRobustRangingAndRssiRadioSourceEstimator3D(com.irurueta.geometry.Point3D initialPosition, Double initialTransmittedPowerdBm, RobustRangingAndRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)	Constructor.
MSACRobustRangingAndRssiRadioSourceEstimator3D(RobustRangingAndRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)	Constructor.
MSACRobustRangingAndRssiRadioSourceEstimator3D(Double initialTransmittedPowerdBm)	Constructor.
MSACRobustRangingAndRssiRadioSourceEstimator3D(Double initialTransmittedPowerdBm, RobustRangingAndRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)	Constructor.
MSACRobustRangingAndRssiRadioSourceEstimator3D(List<? extends RangingAndRssiReadingLocated<S,com.irurueta.geometry.Point3D>> readings)	Constructor.
MSACRobustRangingAndRssiRadioSourceEstimator3D(List<? extends RangingAndRssiReadingLocated<S,com.irurueta.geometry.Point3D>> readings, com.irurueta.geometry.Point3D initialPosition)	Constructor.
MSACRobustRangingAndRssiRadioSourceEstimator3D(List<? extends RangingAndRssiReadingLocated<S,com.irurueta.geometry.Point3D>> readings, com.irurueta.geometry.Point3D initialPosition, RobustRangingAndRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)	Constructor.
MSACRobustRangingAndRssiRadioSourceEstimator3D(List<? extends RangingAndRssiReadingLocated<S,com.irurueta.geometry.Point3D>> readings, com.irurueta.geometry.Point3D initialPosition, Double initialTransmittedPowerdBm)	Constructor.
MSACRobustRangingAndRssiRadioSourceEstimator3D(List<? extends RangingAndRssiReadingLocated<S,com.irurueta.geometry.Point3D>> readings, com.irurueta.geometry.Point3D initialPosition, Double initialTransmittedPowerdBm, double initialPathLossExponent)	Constructor.
MSACRobustRangingAndRssiRadioSourceEstimator3D(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.
MSACRobustRangingAndRssiRadioSourceEstimator3D(List<? extends RangingAndRssiReadingLocated<S,com.irurueta.geometry.Point3D>> readings, com.irurueta.geometry.Point3D initialPosition, Double initialTransmittedPowerdBm, RobustRangingAndRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)	Constructor.
MSACRobustRangingAndRssiRadioSourceEstimator3D(List<? extends RangingAndRssiReadingLocated<S,com.irurueta.geometry.Point3D>> readings, RobustRangingAndRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)	Constructor.
MSACRobustRangingAndRssiRadioSourceEstimator3D(List<? extends RangingAndRssiReadingLocated<S,com.irurueta.geometry.Point3D>> readings, Double initialTransmittedPowerdBm)	Constructor.
MSACRobustRangingAndRssiRadioSourceEstimator3D(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	getThreshold()	Returns threshold to determine whether samples are inliers or not.
void	setThreshold(double threshold)	Sets threshold to determine whether samples are inliers or not.

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_THRESHOLD

public static final double DEFAULT_THRESHOLD

Constant defining default threshold to determine whether samples are inliers or not.

See Also:

• Constant Field Values

MIN_THRESHOLD

public static final double MIN_THRESHOLD

Minimum value that can be set as threshold. Threshold must be strictly greater than 0.0.

See Also:

• Constant Field Values

threshold

private double threshold

Threshold to determine whether samples are inliers or not when testing possible estimation solutions.

Constructor Details

MSACRobustRangingAndRssiRadioSourceEstimator3D

public MSACRobustRangingAndRssiRadioSourceEstimator3D()

Constructor.

MSACRobustRangingAndRssiRadioSourceEstimator3D

public MSACRobustRangingAndRssiRadioSourceEstimator3D(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.

MSACRobustRangingAndRssiRadioSourceEstimator3D

public MSACRobustRangingAndRssiRadioSourceEstimator3D(RobustRangingAndRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)

Constructor.

Parameters:

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

MSACRobustRangingAndRssiRadioSourceEstimator3D

public MSACRobustRangingAndRssiRadioSourceEstimator3D(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.

MSACRobustRangingAndRssiRadioSourceEstimator3D

public MSACRobustRangingAndRssiRadioSourceEstimator3D(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.

MSACRobustRangingAndRssiRadioSourceEstimator3D

public MSACRobustRangingAndRssiRadioSourceEstimator3D(com.irurueta.geometry.Point3D initialPosition)

Constructor.

Parameters:

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

MSACRobustRangingAndRssiRadioSourceEstimator3D

public MSACRobustRangingAndRssiRadioSourceEstimator3D(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.

MSACRobustRangingAndRssiRadioSourceEstimator3D

public MSACRobustRangingAndRssiRadioSourceEstimator3D(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.

MSACRobustRangingAndRssiRadioSourceEstimator3D

public MSACRobustRangingAndRssiRadioSourceEstimator3D(Double initialTransmittedPowerdBm)

Constructor.

Parameters:

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

MSACRobustRangingAndRssiRadioSourceEstimator3D

public MSACRobustRangingAndRssiRadioSourceEstimator3D(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.

MSACRobustRangingAndRssiRadioSourceEstimator3D

public MSACRobustRangingAndRssiRadioSourceEstimator3D(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.

MSACRobustRangingAndRssiRadioSourceEstimator3D

public MSACRobustRangingAndRssiRadioSourceEstimator3D(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.

MSACRobustRangingAndRssiRadioSourceEstimator3D

public MSACRobustRangingAndRssiRadioSourceEstimator3D(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.

MSACRobustRangingAndRssiRadioSourceEstimator3D

public MSACRobustRangingAndRssiRadioSourceEstimator3D(com.irurueta.geometry.Point3D initialPosition,
 Double initialTransmittedPowerdBm)

Constructor.

Parameters:

initialPosition - initial position to start the estimation of access point position.

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

MSACRobustRangingAndRssiRadioSourceEstimator3D

public MSACRobustRangingAndRssiRadioSourceEstimator3D(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.

MSACRobustRangingAndRssiRadioSourceEstimator3D

public MSACRobustRangingAndRssiRadioSourceEstimator3D(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.

MSACRobustRangingAndRssiRadioSourceEstimator3D

public MSACRobustRangingAndRssiRadioSourceEstimator3D(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.

MSACRobustRangingAndRssiRadioSourceEstimator3D

public MSACRobustRangingAndRssiRadioSourceEstimator3D(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.

MSACRobustRangingAndRssiRadioSourceEstimator3D

public MSACRobustRangingAndRssiRadioSourceEstimator3D(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.

MSACRobustRangingAndRssiRadioSourceEstimator3D

public MSACRobustRangingAndRssiRadioSourceEstimator3D(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

getThreshold

public double getThreshold()

Returns threshold to determine whether samples are inliers or not.

Returns:

threshold to determine whether samples are inliers or not.

setThreshold

public void setThreshold(double threshold)
                  throws com.irurueta.navigation.LockedException

Sets threshold to determine whether samples are inliers or not.

Parameters:

threshold - threshold to be set.

Throws:

IllegalArgumentException - if provided value is equal or less than zero.

com.irurueta.navigation.LockedException - if robust estimator is locked because an estimation is already in progress.

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.