Package com.irurueta.navigation.indoor.radiosource

Class RangingRadioSourceEstimator3D<S extends RadioSource>

java.lang.Object

com.irurueta.navigation.indoor.radiosource.RadioSourceEstimator<com.irurueta.geometry.Point3D,RangingReadingLocated<S,com.irurueta.geometry.Point3D>,RangingRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D>>

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

com.irurueta.navigation.indoor.radiosource.RangingRadioSourceEstimator3D<S>

Type Parameters:

S - a RadioSource type.

public class RangingRadioSourceEstimator3D<S extends RadioSource>
extends RangingRadioSourceEstimator<S,com.irurueta.geometry.Point3D>

Estimates position of a radio source (e.g. Wi-Fi access point or bluetooth beacon) by using ranging measurements. Ranging measurements can be obtained by protocols such as ieee 802.11mc (Wi-Fi RTT) which measures travel time of signal and converts the result into distances by taking into account the speed of light as the propagation speed.

Field Summary

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

accuracy, DEFAULT_USE_HOMOGENEOUS_LINEAR_SOLVER, DEFAULT_USE_READING_POSITION_COVARIANCES, homogeneousLinearSolver, inhomogeneousLinearSolver, initialPosition, nonLinearSolver, nonLinearSolverEnabled, useHomogeneousLinearSolver, useReadingPositionCovariances

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

estimatedCovariance, estimatedPositionCoordinates, estimatedPositionCovariance, listener, locked, readings

Constructor Summary

Constructors

Constructor	Description
RangingRadioSourceEstimator3D()	Constructor.
RangingRadioSourceEstimator3D(com.irurueta.geometry.Point3D initialPosition)	Constructor.
RangingRadioSourceEstimator3D(com.irurueta.geometry.Point3D initialPosition, RangingRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)	Constructor.
RangingRadioSourceEstimator3D(RangingRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)	Constructor.
RangingRadioSourceEstimator3D(List<? extends RangingReadingLocated<S,com.irurueta.geometry.Point3D>> readings)	Constructor.
RangingRadioSourceEstimator3D(List<? extends RangingReadingLocated<S,com.irurueta.geometry.Point3D>> readings, com.irurueta.geometry.Point3D initialPosition)	Constructor.
RangingRadioSourceEstimator3D(List<? extends RangingReadingLocated<S,com.irurueta.geometry.Point3D>> readings, com.irurueta.geometry.Point3D initialPosition, RangingRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)	Constructor.
RangingRadioSourceEstimator3D(List<? extends RangingReadingLocated<S,com.irurueta.geometry.Point3D>> readings, RangingRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)	Constructor.

Method Summary

Modifier and Type	Method	Description
protected void	buildAccuracyIfNeeded()	Build an instance of accuracy if needed.
protected void	buildLinearSolverIfNeeded()	Builds an instance of a linear lateration solver if needed.
protected void	buildNonLinearSolverIfNeeded()	Builds an instance of a non-linear lateration solver if needed.
com.irurueta.geometry.Point3D	getEstimatedPosition()	Gets estimated radio source 3D position.
RadioSourceLocated<com.irurueta.geometry.Point3D>	getEstimatedRadioSource()	Gets estimated located radio source.
int	getMinReadings()	Gets minimum required number of readings to estimate position of radio source, which is 4 readings.
int	getNumberOfDimensions()	Gets number of dimensions of position points.
protected void	setPositionsDistancesAndDistanceStandardDeviations(List<com.irurueta.geometry.Point3D> positions, List<Double> distances, List<Double> distanceStandardDeviations)	Sets positions, distances and standard deviations of distances on internal lateration solver.

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

estimate, getInitialPosition, getUseReadingPositionCovariance, isHomogeneousLinearSolverUsed, isNonLinearSolverEnabled, isReady, setHomogeneousLinearSolverUsed, setInitialPosition, setNonLinearSolverEnabled, setUseReadingPositionCovariances

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

areValidReadings, getEstimatedCovariance, getEstimatedPosition, getEstimatedPositionCoordinates, getEstimatedPositionCovariance, getListener, getReadings, internalSetReadings, isLocked, setListener, setReadings

Methods inherited from class java.lang.Object

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

Constructor Details

RangingRadioSourceEstimator3D

public RangingRadioSourceEstimator3D()

Constructor.

RangingRadioSourceEstimator3D

public RangingRadioSourceEstimator3D(List<? extends RangingReadingLocated<S,com.irurueta.geometry.Point3D>> readings)

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

Parameters:

readings - radio signal ranging readings belonging to the same radio source.

Throws:

IllegalArgumentException - if readings are not valid.

RangingRadioSourceEstimator3D

public RangingRadioSourceEstimator3D(RangingRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)

Constructor.

Parameters:

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

RangingRadioSourceEstimator3D

public RangingRadioSourceEstimator3D(List<? extends RangingReadingLocated<S,com.irurueta.geometry.Point3D>> readings,
 RangingRadioSourceEstimatorListener<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.

RangingRadioSourceEstimator3D

public RangingRadioSourceEstimator3D(com.irurueta.geometry.Point3D initialPosition)

Constructor.

Parameters:

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

RangingRadioSourceEstimator3D

public RangingRadioSourceEstimator3D(List<? extends RangingReadingLocated<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.

RangingRadioSourceEstimator3D

public RangingRadioSourceEstimator3D(com.irurueta.geometry.Point3D initialPosition,
 RangingRadioSourceEstimatorListener<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.

RangingRadioSourceEstimator3D

public RangingRadioSourceEstimator3D(List<? extends RangingReadingLocated<S,com.irurueta.geometry.Point3D>> readings,
 com.irurueta.geometry.Point3D initialPosition,
 RangingRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)

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

Parameters:

readings - radio signal ranging 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.

Method Details

getMinReadings

public int getMinReadings()

Gets minimum required number of readings to estimate position of radio source, which is 4 readings.

Specified by:

getMinReadings in class RadioSourceEstimator<com.irurueta.geometry.Point3D,RangingReadingLocated<S extends RadioSource,com.irurueta.geometry.Point3D>,RangingRadioSourceEstimatorListener<S extends RadioSource,com.irurueta.geometry.Point3D>>

Returns:

minimum required number of readings.

getNumberOfDimensions

public int getNumberOfDimensions()

Gets number of dimensions of position points. This is always 3.

Specified by:

getNumberOfDimensions in class RadioSourceEstimator<com.irurueta.geometry.Point3D,RangingReadingLocated<S extends RadioSource,com.irurueta.geometry.Point3D>,RangingRadioSourceEstimatorListener<S extends RadioSource,com.irurueta.geometry.Point3D>>

Returns:

number of dimensions of position points.

getEstimatedPosition

public com.irurueta.geometry.Point3D getEstimatedPosition()

Gets estimated radio source 3D position.

Specified by:

getEstimatedPosition in class RadioSourceEstimator<com.irurueta.geometry.Point3D,RangingReadingLocated<S extends RadioSource,com.irurueta.geometry.Point3D>,RangingRadioSourceEstimatorListener<S extends RadioSource,com.irurueta.geometry.Point3D>>

Returns:

estimated radio source 3D position.

getEstimatedRadioSource

public RadioSourceLocated<com.irurueta.geometry.Point3D> getEstimatedRadioSource()

Gets estimated located radio source.

Specified by:

getEstimatedRadioSource in class RadioSourceEstimator<com.irurueta.geometry.Point3D,RangingReadingLocated<S extends RadioSource,com.irurueta.geometry.Point3D>,RangingRadioSourceEstimatorListener<S extends RadioSource,com.irurueta.geometry.Point3D>>

Returns:

estimated located radio source or null.

buildLinearSolverIfNeeded

protected void buildLinearSolverIfNeeded()

Builds an instance of a linear lateration solver if needed.

Specified by:

buildLinearSolverIfNeeded in class RangingRadioSourceEstimator<S extends RadioSource,com.irurueta.geometry.Point3D>

buildNonLinearSolverIfNeeded

protected void buildNonLinearSolverIfNeeded()

Builds an instance of a non-linear lateration solver if needed.

Specified by:

buildNonLinearSolverIfNeeded in class RangingRadioSourceEstimator<S extends RadioSource,com.irurueta.geometry.Point3D>

buildAccuracyIfNeeded

protected void buildAccuracyIfNeeded()

Build an instance of accuracy if needed.

Specified by:

buildAccuracyIfNeeded in class RangingRadioSourceEstimator<S extends RadioSource,com.irurueta.geometry.Point3D>

setPositionsDistancesAndDistanceStandardDeviations

protected void setPositionsDistancesAndDistanceStandardDeviations(List<com.irurueta.geometry.Point3D> positions,
 List<Double> distances,
 List<Double> distanceStandardDeviations)
                                                           throws com.irurueta.navigation.LockedException

Sets positions, distances and standard deviations of distances on internal lateration solver.

Specified by:

setPositionsDistancesAndDistanceStandardDeviations in class RangingRadioSourceEstimator<S extends RadioSource,com.irurueta.geometry.Point3D>

Parameters:

positions - positions to be set.

distances - distances to be set.

distanceStandardDeviations - standard deviations of distances to be set or null.

Throws:

com.irurueta.navigation.LockedException - if solvers are locked.