Package com.irurueta.navigation.indoor.radiosource

Class RangingAndRssiRadioSourceEstimator3D<S extends RadioSource>

java.lang.Object
com.irurueta.navigation.indoor.radiosource.RadioSourceEstimator<com.irurueta.geometry.Point3D,RangingAndRssiReadingLocated<S,com.irurueta.geometry.Point3D>,RangingAndRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D>>
com.irurueta.navigation.indoor.radiosource.RangingAndRssiRadioSourceEstimator<S,com.irurueta.geometry.Point3D>
com.irurueta.navigation.indoor.radiosource.RangingAndRssiRadioSourceEstimator3D<S>
Type Parameters:
S - a RadioSource type.
public class RangingAndRssiRadioSourceEstimator3D<S extends RadioSource> extends RangingAndRssiRadioSourceEstimator<S,com.irurueta.geometry.Point3D>
Estimates 3D position, transmitted power and path loss exponent of a radio source (e.g. Wi-Fi access point or bluetooth beacon) 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.

Although RssiRadioSourceEstimator can estimate the same parameters of a radio source, when ranging measures are available along with RSSI measurements, implementations of this class should be preferred instead as they can provide greater accuracy.

  • Constructor Details

    • RangingAndRssiRadioSourceEstimator3D

      public RangingAndRssiRadioSourceEstimator3D()
      Constructor.

    • RangingAndRssiRadioSourceEstimator3D

      public RangingAndRssiRadioSourceEstimator3D(List<? extends RangingAndRssiReadingLocated<S,com.irurueta.geometry.Point3D>> readings)
      Constructor. Sets radio signal readings belonging to the same radio source.
      Parameters:
      readings - radio signal readings belonging to the same radio sources.
      Throws:
      IllegalArgumentException - if readings are not valid.

    • RangingAndRssiRadioSourceEstimator3D

      public RangingAndRssiRadioSourceEstimator3D(RangingAndRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)
      Constructor.
      Parameters:
      listener - listener in charge of attending events raised by this instance.

    • RangingAndRssiRadioSourceEstimator3D

      public RangingAndRssiRadioSourceEstimator3D(List<? extends RangingAndRssiReadingLocated<S,com.irurueta.geometry.Point3D>> readings, RangingAndRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)
      Constructor. Sets radio signal readings belonging to the same radio source.
      Parameters:
      readings - radio 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.

    • RangingAndRssiRadioSourceEstimator3D

      public RangingAndRssiRadioSourceEstimator3D(com.irurueta.geometry.Point3D initialPosition)
      Constructor.
      Parameters:
      initialPosition - initial position to start the estimation of radio source position.

    • RangingAndRssiRadioSourceEstimator3D

      public RangingAndRssiRadioSourceEstimator3D(List<? extends RangingAndRssiReadingLocated<S,com.irurueta.geometry.Point3D>> readings, com.irurueta.geometry.Point3D initialPosition)
      Constructor. Sets radio signal readings belonging to the same radio source.
      Parameters:
      readings - radio 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.

    • RangingAndRssiRadioSourceEstimator3D

      public RangingAndRssiRadioSourceEstimator3D(com.irurueta.geometry.Point3D initialPosition, RangingAndRssiRadioSourceEstimatorListener<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.

    • RangingAndRssiRadioSourceEstimator3D

      public RangingAndRssiRadioSourceEstimator3D(List<? extends RangingAndRssiReadingLocated<S,com.irurueta.geometry.Point3D>> readings, com.irurueta.geometry.Point3D initialPosition, RangingAndRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)
      Constructor. Sets radio signal readings belonging to the same radio source.
      Parameters:
      readings - radio 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.

    • RangingAndRssiRadioSourceEstimator3D

      public RangingAndRssiRadioSourceEstimator3D(Double initialTransmittedPowerDbm)
      Constructor.
      Parameters:
      initialTransmittedPowerDbm - initial transmitted power to start the estimation of radio source transmitted power (expressed in dBm's).

    • RangingAndRssiRadioSourceEstimator3D

      public RangingAndRssiRadioSourceEstimator3D(List<? extends RangingAndRssiReadingLocated<S,com.irurueta.geometry.Point3D>> readings, Double initialTransmittedPowerdBm)
      Constructor. Sets radio signal readings belonging to the same radio source.
      Parameters:
      readings - radio 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.

    • RangingAndRssiRadioSourceEstimator3D

      public RangingAndRssiRadioSourceEstimator3D(Double initialTransmittedPowerdBm, RangingAndRssiRadioSourceEstimatorListener<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.

    • RangingAndRssiRadioSourceEstimator3D

      public RangingAndRssiRadioSourceEstimator3D(List<? extends RangingAndRssiReadingLocated<S,com.irurueta.geometry.Point3D>> readings, Double initialTransmittedPowerdBm, RangingAndRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)
      Constructor. Sets radio signal readings belonging to the same radio source.
      Parameters:
      readings - radio 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.

    • RangingAndRssiRadioSourceEstimator3D

      public RangingAndRssiRadioSourceEstimator3D(List<? extends RangingAndRssiReadingLocated<S,com.irurueta.geometry.Point3D>> readings, com.irurueta.geometry.Point3D initialPosition, Double initialTransmittedPowerdBm)
      Constructor. Sets radio signal readings belonging to the same radio source.
      Parameters:
      readings - radio 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.

    • RangingAndRssiRadioSourceEstimator3D

      public RangingAndRssiRadioSourceEstimator3D(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).

    • RangingAndRssiRadioSourceEstimator3D

      public RangingAndRssiRadioSourceEstimator3D(com.irurueta.geometry.Point3D initialPosition, Double initialTransmittedPowerdBm, RangingAndRssiRadioSourceEstimatorListener<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 - listener in charge of attending events raised by this instance.

    • RangingAndRssiRadioSourceEstimator3D

      public RangingAndRssiRadioSourceEstimator3D(List<? extends RangingAndRssiReadingLocated<S,com.irurueta.geometry.Point3D>> readings, com.irurueta.geometry.Point3D initialPosition, Double initialTransmittedPowerdBm, RangingAndRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)
      Constructor. Sets radio signal readings belonging to the same radio source.
      Parameters:
      readings - radio 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.

    • RangingAndRssiRadioSourceEstimator3D

      public RangingAndRssiRadioSourceEstimator3D(List<? extends RangingAndRssiReadingLocated<S,com.irurueta.geometry.Point3D>> readings, com.irurueta.geometry.Point3D initialPosition, Double initialTransmittedPowerdBm, double initialPathLossExponent)
      Constructor. Sets radio signal readings belonging to the same radio source.
      Parameters:
      readings - radio 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.

    • RangingAndRssiRadioSourceEstimator3D

      public RangingAndRssiRadioSourceEstimator3D(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.

    • RangingAndRssiRadioSourceEstimator3D

      public RangingAndRssiRadioSourceEstimator3D(com.irurueta.geometry.Point3D initialPosition, Double initialTransmittedPowerdBm, double initialPathLossExponent, RangingAndRssiRadioSourceEstimatorListener<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.

    • RangingAndRssiRadioSourceEstimator3D

      public RangingAndRssiRadioSourceEstimator3D(List<? extends RangingAndRssiReadingLocated<S,com.irurueta.geometry.Point3D>> readings, com.irurueta.geometry.Point3D initialPosition, Double initialTransmittedPowerdBm, double initialPathLossExponent, RangingAndRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)
      Constructor. Sets radio signal readings belonging to the same radio source.
      Parameters:
      readings - radio 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