Package com.irurueta.navigation.indoor.radiosource

Class PROSACRobustRangingAndRssiRadioSourceEstimator3D<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.PROSACRobustRangingAndRssiRadioSourceEstimator3D<S>
Type Parameters:
S - a RadioSource type.
public class PROSACRobustRangingAndRssiRadioSourceEstimator3D<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 PROSAC 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.

  • Field Details

    • DEFAULT_THRESHOLD

      public static final double DEFAULT_THRESHOLD
      Constant defining default threshold to determine whether samples are inliers or not.
      See Also:

    • 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:

    • DEFAULT_COMPUTE_AND_KEEP_INLIERS

      public static final boolean DEFAULT_COMPUTE_AND_KEEP_INLIERS
      Indicates that by default inliers will only be computed but not kept.
      See Also:

    • DEFAULT_COMPUTE_AND_KEEP_RESIDUALS

      public static final boolean DEFAULT_COMPUTE_AND_KEEP_RESIDUALS
      Indicates that by default residuals will only be computed but not kept.
      See Also:

    • threshold

      private double threshold
      Threshold to determine whether samples are inliers or not when testing possible solutions. The threshold refers to the amount of error on distance between estimated position and distances provided for each sample.

    • computeAndKeepInliers

      private boolean computeAndKeepInliers
      Indicates whether inliers must be computed and kept.

    • computeAndKeepResiduals

      private boolean computeAndKeepResiduals
      Indicates whether residuals must be computed and kept.

    • qualityScores

      private double[] qualityScores
      Quality scores corresponding to each provided sample. The larger the score value the better the quality of the sample.

  • Constructor Details

    • PROSACRobustRangingAndRssiRadioSourceEstimator3D

      public PROSACRobustRangingAndRssiRadioSourceEstimator3D()
      Constructor.

    • PROSACRobustRangingAndRssiRadioSourceEstimator3D

      public PROSACRobustRangingAndRssiRadioSourceEstimator3D(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.

    • PROSACRobustRangingAndRssiRadioSourceEstimator3D

      public PROSACRobustRangingAndRssiRadioSourceEstimator3D(RobustRangingAndRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)
      Constructor.
      Parameters:
      listener - listener in charge of attending events raised by this instance.

    • PROSACRobustRangingAndRssiRadioSourceEstimator3D

      public PROSACRobustRangingAndRssiRadioSourceEstimator3D(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.

    • PROSACRobustRangingAndRssiRadioSourceEstimator3D

      public PROSACRobustRangingAndRssiRadioSourceEstimator3D(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.

    • PROSACRobustRangingAndRssiRadioSourceEstimator3D

      public PROSACRobustRangingAndRssiRadioSourceEstimator3D(com.irurueta.geometry.Point3D initialPosition)
      Constructor.
      Parameters:
      initialPosition - initial position to start the estimation of radio source position.

    • PROSACRobustRangingAndRssiRadioSourceEstimator3D

      public PROSACRobustRangingAndRssiRadioSourceEstimator3D(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.

    • PROSACRobustRangingAndRssiRadioSourceEstimator3D

      public PROSACRobustRangingAndRssiRadioSourceEstimator3D(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.

    • PROSACRobustRangingAndRssiRadioSourceEstimator3D

      public PROSACRobustRangingAndRssiRadioSourceEstimator3D(Double initialTransmittedPowerdBm)
      Constructor.
      Parameters:
      initialTransmittedPowerdBm - initial transmitted power to start the estimation of radio source transmitted power (expressed in dBm's)

    • PROSACRobustRangingAndRssiRadioSourceEstimator3D

      public PROSACRobustRangingAndRssiRadioSourceEstimator3D(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.

    • PROSACRobustRangingAndRssiRadioSourceEstimator3D

      public PROSACRobustRangingAndRssiRadioSourceEstimator3D(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.

    • PROSACRobustRangingAndRssiRadioSourceEstimator3D

      public PROSACRobustRangingAndRssiRadioSourceEstimator3D(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.

    • PROSACRobustRangingAndRssiRadioSourceEstimator3D

      public PROSACRobustRangingAndRssiRadioSourceEstimator3D(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.

    • PROSACRobustRangingAndRssiRadioSourceEstimator3D

      public PROSACRobustRangingAndRssiRadioSourceEstimator3D(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).

    • PROSACRobustRangingAndRssiRadioSourceEstimator3D

      public PROSACRobustRangingAndRssiRadioSourceEstimator3D(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.

    • PROSACRobustRangingAndRssiRadioSourceEstimator3D

      public PROSACRobustRangingAndRssiRadioSourceEstimator3D(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.

    • PROSACRobustRangingAndRssiRadioSourceEstimator3D

      public PROSACRobustRangingAndRssiRadioSourceEstimator3D(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.

    • PROSACRobustRangingAndRssiRadioSourceEstimator3D

      public PROSACRobustRangingAndRssiRadioSourceEstimator3D(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.

    • PROSACRobustRangingAndRssiRadioSourceEstimator3D

      public PROSACRobustRangingAndRssiRadioSourceEstimator3D(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.

    • PROSACRobustRangingAndRssiRadioSourceEstimator3D

      public PROSACRobustRangingAndRssiRadioSourceEstimator3D(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.

    • PROSACRobustRangingAndRssiRadioSourceEstimator3D

      public PROSACRobustRangingAndRssiRadioSourceEstimator3D(double[] qualityScores)
      Constructor.
      Parameters:
      qualityScores - quality scores corresponding to each provided sample. The larger the score value the better the quality of the sample.
      Throws:
      IllegalArgumentException - if quality scores is null, or length of quality scores is less than required minimum.

    • PROSACRobustRangingAndRssiRadioSourceEstimator3D

      public PROSACRobustRangingAndRssiRadioSourceEstimator3D(double[] qualityScores, List<? extends RangingAndRssiReadingLocated<S,com.irurueta.geometry.Point3D>> readings)
      Constructor. Sets signal readings belonging to the same radio source.
      Parameters:
      qualityScores - quality scores corresponding to each provided sample. The larger the score value the better the quality of the sample.
      readings - signal readings belonging to the same radio source.
      Throws:
      IllegalArgumentException - if readings are not valid, quality scores is null, or length of quality scores is less than required minimum.

    • PROSACRobustRangingAndRssiRadioSourceEstimator3D

      public PROSACRobustRangingAndRssiRadioSourceEstimator3D(double[] qualityScores, RobustRangingAndRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)
      Constructor.
      Parameters:
      qualityScores - quality scores corresponding to each provided sample. The larger the score value the better the quality of the sample.
      listener - listener in charge of attending events raised by this instance.
      Throws:
      IllegalArgumentException - if quality scores is null, or length of quality scores is less than required minimum.

    • PROSACRobustRangingAndRssiRadioSourceEstimator3D

      public PROSACRobustRangingAndRssiRadioSourceEstimator3D(double[] qualityScores, 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:
      qualityScores - quality scores corresponding to each provided sample. The larger the score value the better the quality of the sample.
      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, quality scores is null, or length of quality scores is less than required minimum.

    • PROSACRobustRangingAndRssiRadioSourceEstimator3D

      public PROSACRobustRangingAndRssiRadioSourceEstimator3D(double[] qualityScores, 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:
      qualityScores - quality scores corresponding to each provided sample. The larger the score value the better the quality of the sample.
      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, quality scores is null, or length of quality scores is less than required minimum.

    • PROSACRobustRangingAndRssiRadioSourceEstimator3D

      public PROSACRobustRangingAndRssiRadioSourceEstimator3D(double[] qualityScores, com.irurueta.geometry.Point3D initialPosition)
      Constructor.
      Parameters:
      qualityScores - quality scores corresponding to each provided sample. The larger the score value the better the quality of the sample.
      initialPosition - initial position to start the estimation of radio source position.
      Throws:
      IllegalArgumentException - if quality scores is null, or length of quality scores is less than required minimum.

    • PROSACRobustRangingAndRssiRadioSourceEstimator3D

      public PROSACRobustRangingAndRssiRadioSourceEstimator3D(double[] qualityScores, com.irurueta.geometry.Point3D initialPosition, RobustRangingAndRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)
      Constructor.
      Parameters:
      qualityScores - quality scores corresponding to each provided sample. The larger the score value the better the quality of the sample.
      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 quality scores is null, or length of quality scores is less than required minimum.

    • PROSACRobustRangingAndRssiRadioSourceEstimator3D

      public PROSACRobustRangingAndRssiRadioSourceEstimator3D(double[] qualityScores, 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:
      qualityScores - quality scores corresponding to each provided sample. The larger the score value the better the quality of the sample.
      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, quality scores is null, or length of quality scores is less than required minimum.

    • PROSACRobustRangingAndRssiRadioSourceEstimator3D

      public PROSACRobustRangingAndRssiRadioSourceEstimator3D(double[] qualityScores, Double initialTransmittedPowerdBm)
      Constructor.
      Parameters:
      qualityScores - quality scores corresponding to each provided sample. The larger the score value the better the quality of the sample.
      initialTransmittedPowerdBm - initial transmitted power to start the estimation of radio source transmitted power (expressed in dBm's)
      Throws:
      IllegalArgumentException - if quality scores is null, or length of quality scores is less than required minimum.

    • PROSACRobustRangingAndRssiRadioSourceEstimator3D

      public PROSACRobustRangingAndRssiRadioSourceEstimator3D(double[] qualityScores, List<? extends RangingAndRssiReadingLocated<S,com.irurueta.geometry.Point3D>> readings, Double initialTransmittedPowerdBm)
      Constructor. Sets signal readings belonging to the same radio source.
      Parameters:
      qualityScores - quality scores corresponding to each provided sample. The larger the score value the better the quality of the sample.
      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, quality scores is null, or length of quality scores is less than required minimum.

    • PROSACRobustRangingAndRssiRadioSourceEstimator3D

      public PROSACRobustRangingAndRssiRadioSourceEstimator3D(double[] qualityScores, Double initialTransmittedPowerdBm, RobustRangingAndRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)
      Constructor.
      Parameters:
      qualityScores - quality scores corresponding to each provided sample. The larger the score value the better the quality of the sample.
      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 quality scores is null, or length of quality scores is less than required minimum.

    • PROSACRobustRangingAndRssiRadioSourceEstimator3D

      public PROSACRobustRangingAndRssiRadioSourceEstimator3D(double[] qualityScores, 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:
      qualityScores - quality scores corresponding to each provided sample. The larger the score value the better the quality of the sample.
      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, quality scores is null, or length of quality scores is less than required minimum.

    • PROSACRobustRangingAndRssiRadioSourceEstimator3D

      public PROSACRobustRangingAndRssiRadioSourceEstimator3D(double[] qualityScores, 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:
      qualityScores - quality scores corresponding to each provided sample. The larger the score value the better the quality of the sample.
      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, quality scores is null, or length of quality scores is less than required minimum.

    • PROSACRobustRangingAndRssiRadioSourceEstimator3D

      public PROSACRobustRangingAndRssiRadioSourceEstimator3D(double[] qualityScores, com.irurueta.geometry.Point3D initialPosition, Double initialTransmittedPowerdBm)
      Constructor.
      Parameters:
      qualityScores - quality scores corresponding to each provided sample. The larger the score value the better the quality of the sample.
      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 quality scores is null, or length of quality scores is less than required minimum.

    • PROSACRobustRangingAndRssiRadioSourceEstimator3D

      public PROSACRobustRangingAndRssiRadioSourceEstimator3D(double[] qualityScores, com.irurueta.geometry.Point3D initialPosition, Double initialTransmittedPowerdBm, RobustRangingAndRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)
      Constructor.
      Parameters:
      qualityScores - quality scores corresponding to each provided sample. The larger the score value the better the quality of the sample.
      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.
      Throws:
      IllegalArgumentException - if quality scores is null, or length of quality scores is less than required minimum.

    • PROSACRobustRangingAndRssiRadioSourceEstimator3D

      public PROSACRobustRangingAndRssiRadioSourceEstimator3D(double[] qualityScores, 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:
      qualityScores - quality scores corresponding to each provided sample. The larger the score value the better the quality of the sample.
      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, quality scores is null, or length of quality scores is less than required minimum.

    • PROSACRobustRangingAndRssiRadioSourceEstimator3D

      public PROSACRobustRangingAndRssiRadioSourceEstimator3D(double[] qualityScores, 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:
      qualityScores - quality scores corresponding to each provided sample. The larger the score value the better the quality of the sample.
      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, quality scores is null, or length of quality scores is less than required minimum.

    • PROSACRobustRangingAndRssiRadioSourceEstimator3D

      public PROSACRobustRangingAndRssiRadioSourceEstimator3D(double[] qualityScores, com.irurueta.geometry.Point3D initialPosition, Double initialTransmittedPowerdBm, double initialPathLossExponent)
      Constructor.
      Parameters:
      qualityScores - quality scores corresponding to each provided sample. The larger the score value the better the quality of the sample.
      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 quality scores is null, or length of quality scores is less than required minimum.

    • PROSACRobustRangingAndRssiRadioSourceEstimator3D

      public PROSACRobustRangingAndRssiRadioSourceEstimator3D(double[] qualityScores, com.irurueta.geometry.Point3D initialPosition, Double initialTransmittedPowerdBm, double initialPathLossExponent, RobustRangingAndRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)
      Constructor.
      Parameters:
      qualityScores - quality scores corresponding to each provided sample. The larger the score value the better the quality of the sample.
      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 quality scores is null, or length of quality scores is less than required minimum.

    • PROSACRobustRangingAndRssiRadioSourceEstimator3D

      public PROSACRobustRangingAndRssiRadioSourceEstimator3D(double[] qualityScores, 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:
      qualityScores - quality scores corresponding to each provided sample. The larger the score value the better the quality of the sample.
      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, quality scores is null, or length of quality scores is less than required minimum.

  • Method Details

    • getThreshold

      public double getThreshold()
      Gets threshold to determine whether samples are inliers or not when testing possible solutions. The threshold refers to the amount of error on distance between estimated position and distances provided for each sample.
      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 when testing possible solutions. The threshold refers to the amount of error on distance between estimated position and distances provided for each sample.
      Parameters:
      threshold - threshold to determine whether samples are inliers or not.
      Throws:
      IllegalArgumentException - if provided value is equal or less than zero.
      com.irurueta.navigation.LockedException - if this solver is locked.

    • getQualityScores

      public double[] getQualityScores()
      Returns quality scores corresponding to each pair of positions and distances (i.e. sample). The larger the score value the better the quality of the sample. This implementation always returns null. Subclasses using quality scores must implement proper behavior.
      Overrides:
      getQualityScores in class RobustRadioSourceEstimator<com.irurueta.geometry.Point3D,RangingAndRssiReadingLocated<S extends RadioSource,com.irurueta.geometry.Point3D>,RobustRangingAndRssiRadioSourceEstimatorListener<S extends RadioSource,com.irurueta.geometry.Point3D>>
      Returns:
      quality scores corresponding to each sample.

    • setQualityScores

      public void setQualityScores(double[] qualityScores) throws com.irurueta.navigation.LockedException
      Sets quality scores corresponding to each pair of positions and distances (i.e. sample). The larger the score value the better the quality of the sample. This implementation makes no action. Subclasses using quality scores must implement proper behaviour.
      Overrides:
      setQualityScores in class RobustRadioSourceEstimator<com.irurueta.geometry.Point3D,RangingAndRssiReadingLocated<S extends RadioSource,com.irurueta.geometry.Point3D>,RobustRangingAndRssiRadioSourceEstimatorListener<S extends RadioSource,com.irurueta.geometry.Point3D>>
      Parameters:
      qualityScores - quality scores corresponding to each pair of matched points.
      Throws:
      IllegalArgumentException - if provided quality scores length is smaller than minimum required samples.
      com.irurueta.navigation.LockedException - if robust solver is locked because an estimation is already in progress.

    • isReady

      public boolean isReady()
      Indicates whether solver is ready to find a solution.
      Overrides:
      isReady in class RobustRangingAndRssiRadioSourceEstimator<S extends RadioSource,com.irurueta.geometry.Point3D>
      Returns:
      true if solver is ready, false otherwise.

    • isComputeAndKeepInliersEnabled

      public boolean isComputeAndKeepInliersEnabled()
      Indicates whether inliers must be computed and kept.
      Returns:
      true if inliers must be computed and kept, false if inliers only need to be computed but not kept.

    • setComputeAndKeepInliersEnabled

      public void setComputeAndKeepInliersEnabled(boolean computeAndKeepInliers) throws com.irurueta.navigation.LockedException
      Specifies whether inliers must be computed and kept.
      Parameters:
      computeAndKeepInliers - true if inliers must be computed and kept, false if inliers only need to be computed but not kept.
      Throws:
      com.irurueta.navigation.LockedException - if this solver is locked.

    • isComputeAndKeepResidualsEnabled

      public boolean isComputeAndKeepResidualsEnabled()
      Indicates whether residuals must be computed and kept.
      Returns:
      true if residuals must be computed and kept, false if residuals only need to be computed but not kept.

    • setComputeAndKeepResidualsEnabled

      public void setComputeAndKeepResidualsEnabled(boolean computeAndKeepResiduals) throws com.irurueta.navigation.LockedException
      Specifies whether residuals must be computed and kept.
      Parameters:
      computeAndKeepResiduals - true if residuals must be computed and kept, false if residuals only need to be computed but not kept.
      Throws:
      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.

    • internalSetQualityScores

      private void internalSetQualityScores(double[] qualityScores)
      Sets quality scores corresponding to each provided sample. This method is used internally and does not check whether instance is locked or not.
      Parameters:
      qualityScores - quality scores to be set.
      Throws:
      IllegalArgumentException - if provided quality scores length is smaller than required minimum.