Package com.irurueta.navigation.indoor.radiosource

Class MSACRobustRssiRadioSourceEstimator2D<S extends RadioSource>

java.lang.Object

com.irurueta.navigation.indoor.radiosource.RobustRadioSourceEstimator<com.irurueta.geometry.Point2D,RssiReadingLocated<S,com.irurueta.geometry.Point2D>,RobustRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point2D>>

com.irurueta.navigation.indoor.radiosource.RobustRssiRadioSourceEstimator<S,com.irurueta.geometry.Point2D>

com.irurueta.navigation.indoor.radiosource.RobustRssiRadioSourceEstimator2D<S>

com.irurueta.navigation.indoor.radiosource.MSACRobustRssiRadioSourceEstimator2D<S>

Type Parameters:

S - a RadioSource type.

public class MSACRobustRssiRadioSourceEstimator2D<S extends RadioSource>
extends RobustRssiRadioSourceEstimator2D<S>

Robustly estimate 2D 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 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 RssiReadings contain RSSI standard deviations, those values will be used, otherwise it will be assumed an RSSI standard deviation of 1 dB. Implementations of this class should be able to detect and discard outliers in order to find the best solution.

IMPORTANT: When using this class estimation can be done using a combination of radio source position, transmitted power and path loss exponent. However enabling all three estimations usually achieves inaccurate results. When using this class, estimation must be of at least one parameter (position, transmitted power or path loss exponent) when initial values are provided for the other two, and at most it should consist of two parameters (either position and transmitted power, position and path loss exponent or transmitted power and path loss exponent), providing an initial value for the remaining parameter.

Nested Class Summary

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

RobustRssiRadioSourceEstimator.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.RobustRssiRadioSourceEstimator2D

innerEstimator

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

estimatedPathLossExponent, estimatedPathLossExponentVariance, estimatedTransmittedPowerdBm, estimatedTransmittedPowerVariance, initialPathLossExponent, initialPosition, initialTransmittedPowerdBm, pathLossEstimationEnabled, positionEstimationEnabled, transmittedPowerEstimationEnabled

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
MSACRobustRssiRadioSourceEstimator2D()	Constructor.
MSACRobustRssiRadioSourceEstimator2D(com.irurueta.geometry.Point2D initialPosition)	Constructor.
MSACRobustRssiRadioSourceEstimator2D(com.irurueta.geometry.Point2D initialPosition, RobustRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point2D> listener)	Constructor.
MSACRobustRssiRadioSourceEstimator2D(com.irurueta.geometry.Point2D initialPosition, Double initialTransmittedPowerdBm)	Constructor.
MSACRobustRssiRadioSourceEstimator2D(com.irurueta.geometry.Point2D initialPosition, Double initialTransmittedPowerdBm, double initialPathLossExponent)	Constructor.
MSACRobustRssiRadioSourceEstimator2D(com.irurueta.geometry.Point2D initialPosition, Double initialTransmittedPowerdBm, double initialPathLossExponent, RobustRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point2D> listener)	Constructor.
MSACRobustRssiRadioSourceEstimator2D(com.irurueta.geometry.Point2D initialPosition, Double initialTransmittedPowerdBm, RobustRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point2D> listener)	Constructor.
MSACRobustRssiRadioSourceEstimator2D(RobustRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point2D> listener)	Constructor.
MSACRobustRssiRadioSourceEstimator2D(Double initialTransmittedPowerdBm)	Constructor.
MSACRobustRssiRadioSourceEstimator2D(Double initialTransmittedPowerdBm, RobustRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point2D> listener)	Constructor.
MSACRobustRssiRadioSourceEstimator2D(List<? extends RssiReadingLocated<S,com.irurueta.geometry.Point2D>> readings)	Constructor.
MSACRobustRssiRadioSourceEstimator2D(List<? extends RssiReadingLocated<S,com.irurueta.geometry.Point2D>> readings, com.irurueta.geometry.Point2D initialPosition)	Constructor.
MSACRobustRssiRadioSourceEstimator2D(List<? extends RssiReadingLocated<S,com.irurueta.geometry.Point2D>> readings, com.irurueta.geometry.Point2D initialPosition, RobustRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point2D> listener)	Constructor.
MSACRobustRssiRadioSourceEstimator2D(List<? extends RssiReadingLocated<S,com.irurueta.geometry.Point2D>> readings, com.irurueta.geometry.Point2D initialPosition, Double initialTransmittedPowerdBm)	Constructor.
MSACRobustRssiRadioSourceEstimator2D(List<? extends RssiReadingLocated<S,com.irurueta.geometry.Point2D>> readings, com.irurueta.geometry.Point2D initialPosition, Double initialTransmittedPowerdBm, double initialPathLossExponent)	Constructor.
MSACRobustRssiRadioSourceEstimator2D(List<? extends RssiReadingLocated<S,com.irurueta.geometry.Point2D>> readings, com.irurueta.geometry.Point2D initialPosition, Double initialTransmittedPowerdBm, double initialPathLossExponent, RobustRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point2D> listener)	Constructor.
MSACRobustRssiRadioSourceEstimator2D(List<? extends RssiReadingLocated<S,com.irurueta.geometry.Point2D>> readings, com.irurueta.geometry.Point2D initialPosition, Double initialTransmittedPowerdBm, RobustRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point2D> listener)	Constructor.
MSACRobustRssiRadioSourceEstimator2D(List<? extends RssiReadingLocated<S,com.irurueta.geometry.Point2D>> readings, RobustRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point2D> listener)	Constructor.
MSACRobustRssiRadioSourceEstimator2D(List<? extends RssiReadingLocated<S,com.irurueta.geometry.Point2D>> readings, Double initialTransmittedPowerdBm)	Constructor.
MSACRobustRssiRadioSourceEstimator2D(List<? extends RssiReadingLocated<S,com.irurueta.geometry.Point2D>> readings, Double initialTransmittedPowerdBm, RobustRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point2D> 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.RobustRssiRadioSourceEstimator2D

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, solvePreliminarySolutions

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

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

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

MSACRobustRssiRadioSourceEstimator2D

public MSACRobustRssiRadioSourceEstimator2D()

Constructor.

MSACRobustRssiRadioSourceEstimator2D

public MSACRobustRssiRadioSourceEstimator2D(List<? extends RssiReadingLocated<S,com.irurueta.geometry.Point2D>> 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.

MSACRobustRssiRadioSourceEstimator2D

public MSACRobustRssiRadioSourceEstimator2D(RobustRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point2D> listener)

Constructor.

Parameters:

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

MSACRobustRssiRadioSourceEstimator2D

public MSACRobustRssiRadioSourceEstimator2D(List<? extends RssiReadingLocated<S,com.irurueta.geometry.Point2D>> readings,
 RobustRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point2D> 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.

MSACRobustRssiRadioSourceEstimator2D

public MSACRobustRssiRadioSourceEstimator2D(List<? extends RssiReadingLocated<S,com.irurueta.geometry.Point2D>> readings,
 com.irurueta.geometry.Point2D 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.

MSACRobustRssiRadioSourceEstimator2D

public MSACRobustRssiRadioSourceEstimator2D(com.irurueta.geometry.Point2D initialPosition)

Constructor.

Parameters:

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

MSACRobustRssiRadioSourceEstimator2D

public MSACRobustRssiRadioSourceEstimator2D(com.irurueta.geometry.Point2D initialPosition,
 RobustRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point2D> 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.

MSACRobustRssiRadioSourceEstimator2D

public MSACRobustRssiRadioSourceEstimator2D(List<? extends RssiReadingLocated<S,com.irurueta.geometry.Point2D>> readings,
 com.irurueta.geometry.Point2D initialPosition,
 RobustRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point2D> 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.

MSACRobustRssiRadioSourceEstimator2D

public MSACRobustRssiRadioSourceEstimator2D(Double initialTransmittedPowerdBm)

Constructor.

Parameters:

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

MSACRobustRssiRadioSourceEstimator2D

public MSACRobustRssiRadioSourceEstimator2D(List<? extends RssiReadingLocated<S,com.irurueta.geometry.Point2D>> 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.

MSACRobustRssiRadioSourceEstimator2D

public MSACRobustRssiRadioSourceEstimator2D(Double initialTransmittedPowerdBm,
 RobustRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point2D> 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.

MSACRobustRssiRadioSourceEstimator2D

public MSACRobustRssiRadioSourceEstimator2D(List<? extends RssiReadingLocated<S,com.irurueta.geometry.Point2D>> readings,
 Double initialTransmittedPowerdBm,
 RobustRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point2D> 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.

MSACRobustRssiRadioSourceEstimator2D

public MSACRobustRssiRadioSourceEstimator2D(List<? extends RssiReadingLocated<S,com.irurueta.geometry.Point2D>> readings,
 com.irurueta.geometry.Point2D 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.

MSACRobustRssiRadioSourceEstimator2D

public MSACRobustRssiRadioSourceEstimator2D(com.irurueta.geometry.Point2D 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).

MSACRobustRssiRadioSourceEstimator2D

public MSACRobustRssiRadioSourceEstimator2D(com.irurueta.geometry.Point2D initialPosition,
 Double initialTransmittedPowerdBm,
 RobustRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point2D> 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.

MSACRobustRssiRadioSourceEstimator2D

public MSACRobustRssiRadioSourceEstimator2D(List<? extends RssiReadingLocated<S,com.irurueta.geometry.Point2D>> readings,
 com.irurueta.geometry.Point2D initialPosition,
 Double initialTransmittedPowerdBm,
 RobustRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point2D> 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.

MSACRobustRssiRadioSourceEstimator2D

public MSACRobustRssiRadioSourceEstimator2D(List<? extends RssiReadingLocated<S,com.irurueta.geometry.Point2D>> readings,
 com.irurueta.geometry.Point2D 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.

MSACRobustRssiRadioSourceEstimator2D

public MSACRobustRssiRadioSourceEstimator2D(com.irurueta.geometry.Point2D 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.

MSACRobustRssiRadioSourceEstimator2D

public MSACRobustRssiRadioSourceEstimator2D(com.irurueta.geometry.Point2D initialPosition,
 Double initialTransmittedPowerdBm,
 double initialPathLossExponent,
 RobustRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point2D> 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.

MSACRobustRssiRadioSourceEstimator2D

public MSACRobustRssiRadioSourceEstimator2D(List<? extends RssiReadingLocated<S,com.irurueta.geometry.Point2D>> readings,
 com.irurueta.geometry.Point2D initialPosition,
 Double initialTransmittedPowerdBm,
 double initialPathLossExponent,
 RobustRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point2D> 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.Point2D,RssiReadingLocated<S extends RadioSource,com.irurueta.geometry.Point2D>,RobustRssiRadioSourceEstimatorListener<S extends RadioSource,com.irurueta.geometry.Point2D>>

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 RobustRssiRadioSourceEstimator<S extends RadioSource,com.irurueta.geometry.Point2D>

Returns:

method being used for robust estimation.