Package com.irurueta.navigation.indoor.radiosource

Class RobustRangingRadioSourceEstimator<S extends RadioSource,P extends com.irurueta.geometry.Point<P>>

java.lang.Object

com.irurueta.navigation.indoor.radiosource.RobustRadioSourceEstimator<P,RangingReadingLocated<S,P>,RobustRangingRadioSourceEstimatorListener<S,P>>

com.irurueta.navigation.indoor.radiosource.RobustRangingRadioSourceEstimator<S,P>

Type Parameters:

S - a RadioSource type.

P - a Point type.

Direct Known Subclasses:

RobustRangingRadioSourceEstimator2D, RobustRangingRadioSourceEstimator3D

public abstract class RobustRangingRadioSourceEstimator<S extends RadioSource,P extends com.irurueta.geometry.Point<P>>
extends RobustRadioSourceEstimator<P,RangingReadingLocated<S,P>,RobustRangingRadioSourceEstimatorListener<S,P>>

This is an abstract class to robustly estimate position of a radio source (e.g. Wi-Fi access point or bluetooth beacon), by discarding outliers.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
protected static class	RobustRangingRadioSourceEstimator.Solution<P extends com.irurueta.geometry.Point<?>>	Contains a solution obtained during robust estimation for a subset of samples.

Field Summary

Fields

Modifier and Type	Field	Description
static final boolean	DEFAULT_USE_READING_POSITION_COVARIANCES	Indicates that by default position covariances of readings must be taken into account to increase the amount of standard deviation of each ranging measure by the amount of position standard deviation assuming that both measures are statistically independent.
protected P	initialPosition	Initial position to start the estimation of radio source position.
protected boolean	useReadingPositionCovariances	Indicates whether position covariances of readings must be taken into account to increase the amount of standard deviation of each ranging measure by the amount of position standard deviation assuming that both measures are statistically independent.

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

Modifier	Constructor	Description
protected	RobustRangingRadioSourceEstimator()	Constructor.
protected	RobustRangingRadioSourceEstimator(RobustRangingRadioSourceEstimatorListener<S,P> listener)	Constructor.
protected	RobustRangingRadioSourceEstimator(List<? extends RangingReadingLocated<S,P>> readings)	Constructor.
protected	RobustRangingRadioSourceEstimator(List<? extends RangingReadingLocated<S,P>> readings, RobustRangingRadioSourceEstimatorListener<S,P> listener)	Constructor.
protected	RobustRangingRadioSourceEstimator(List<? extends RangingReadingLocated<S,P>> readings, P initialPosition)	Constructor.
protected	RobustRangingRadioSourceEstimator(List<? extends RangingReadingLocated<S,P>> readings, P initialPosition, RobustRangingRadioSourceEstimatorListener<S,P> listener)	Constructor.
protected	RobustRangingRadioSourceEstimator(P initialPosition)	Constructor.
protected	RobustRangingRadioSourceEstimator(P initialPosition, RobustRangingRadioSourceEstimatorListener<S,P> listener)	Constructor.

Method Summary

Modifier and Type	Method	Description
P	getInitialPosition()	Gets initial position to start the non-linear estimation of radio source position.
abstract com.irurueta.numerical.robust.RobustEstimatorMethod	getMethod()	Returns method being used for robust estimation.
boolean	getUseReadingPositionCovariance()	Indicates whether position covariances of readings must be taken into account to increase the amount of standard deviation of each ranging measure by the amount of position standard deviation assuming that both measures are statistically independent.
abstract boolean	isHomogeneousLinearSolverUsed()	Indicates whether an homogeneous linear solver is used to estimate an initial position.
boolean	isReady()	Indicates whether this instance is ready to start the estimation.
protected double	residual(RobustRangingRadioSourceEstimator.Solution<P> currentEstimation, int i)	Estimates residual for a solution obtained for a subset of samples.
abstract void	setHomogeneousLinearSolverUsed(boolean useHomogeneousLinearSolver)	Specifies whether an homogeneous linear solver is used to estimate an initial position.
void	setInitialPosition(P initialPosition)	Sets initial position to start the non-linear estimation of radio source position.
void	setUseReadingPositionCovariances(boolean useReadingPositionCovariances)	Specifies whether position covariances of readings must be taken into account to increase the amount of standard deviation of each ranging measure by the amount of position standard deviation assuming that both measures are statistically independent.
protected abstract void	solvePreliminarySolutions(int[] samplesIndices, List<RobustRangingRadioSourceEstimator.Solution<P>> solutions)	Solves preliminary solution for a subset of samples.

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

areValidReadings, estimate, getConfidence, getCovariance, getEstimatedPosition, getEstimatedPositionCovariance, getEstimatedRadioSource, getInliersData, getListener, getMaxIterations, getMinReadings, getNumberOfDimensions, 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_USE_READING_POSITION_COVARIANCES

public static final boolean DEFAULT_USE_READING_POSITION_COVARIANCES

Indicates that by default position covariances of readings must be taken into account to increase the amount of standard deviation of each ranging measure by the amount of position standard deviation assuming that both measures are statistically independent.

See Also:

• Constant Field Values

initialPosition

protected P extends com.irurueta.geometry.Point<P> initialPosition

Initial position to start the estimation of radio source position.

useReadingPositionCovariances

protected boolean useReadingPositionCovariances

Indicates whether position covariances of readings must be taken into account to increase the amount of standard deviation of each ranging measure by the amount of position standard deviation assuming that both measures are statistically independent.

Constructor Details

RobustRangingRadioSourceEstimator

protected RobustRangingRadioSourceEstimator()

Constructor.

RobustRangingRadioSourceEstimator

protected RobustRangingRadioSourceEstimator(List<? extends RangingReadingLocated<S,P>> 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.

RobustRangingRadioSourceEstimator

protected RobustRangingRadioSourceEstimator(RobustRangingRadioSourceEstimatorListener<S,P> listener)

Constructor.

Parameters:

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

RobustRangingRadioSourceEstimator

protected RobustRangingRadioSourceEstimator(List<? extends RangingReadingLocated<S,P>> readings,
 RobustRangingRadioSourceEstimatorListener<S,P> 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.

RobustRangingRadioSourceEstimator

protected RobustRangingRadioSourceEstimator(P initialPosition)

Constructor.

Parameters:

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

RobustRangingRadioSourceEstimator

protected RobustRangingRadioSourceEstimator(List<? extends RangingReadingLocated<S,P>> readings,
 P 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.

RobustRangingRadioSourceEstimator

protected RobustRangingRadioSourceEstimator(P initialPosition,
 RobustRangingRadioSourceEstimatorListener<S,P> 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.

RobustRangingRadioSourceEstimator

protected RobustRangingRadioSourceEstimator(List<? extends RangingReadingLocated<S,P>> readings,
 P initialPosition,
 RobustRangingRadioSourceEstimatorListener<S,P> 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

getInitialPosition

public P getInitialPosition()

Gets initial position to start the non-linear estimation of radio source position. If not defined, a linear solution is found instead.

Returns:

initial position.

setInitialPosition

public void setInitialPosition(P initialPosition)
                        throws com.irurueta.navigation.LockedException

Sets initial position to start the non-linear estimation of radio source position. If not defined, a linear solution is found instead.

Parameters:

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

Throws:

com.irurueta.navigation.LockedException - if estimator is locked.

getUseReadingPositionCovariance

public boolean getUseReadingPositionCovariance()

Indicates whether position covariances of readings must be taken into account to increase the amount of standard deviation of each ranging measure by the amount of position standard deviation assuming that both measures are statistically independent.

Returns:

true to take into account reading position covariances, false otherwise.

setUseReadingPositionCovariances

public void setUseReadingPositionCovariances(boolean useReadingPositionCovariances)
                                      throws com.irurueta.navigation.LockedException

Specifies whether position covariances of readings must be taken into account to increase the amount of standard deviation of each ranging measure by the amount of position standard deviation assuming that both measures are statistically independent.

Parameters:

useReadingPositionCovariances - true to take into account reading position covariances, false otherwise.

Throws:

com.irurueta.navigation.LockedException - if estimator is locked.

isReady

public boolean isReady()

Indicates whether this instance is ready to start the estimation.

Specified by:

isReady in class RobustRadioSourceEstimator<P extends com.irurueta.geometry.Point<P>,RangingReadingLocated<S extends RadioSource,P extends com.irurueta.geometry.Point<P>>,RobustRangingRadioSourceEstimatorListener<S extends RadioSource,P extends com.irurueta.geometry.Point<P>>>

Returns:

true if this instance is ready, false otherwise.

isHomogeneousLinearSolverUsed

public abstract boolean isHomogeneousLinearSolverUsed()

Indicates whether an homogeneous linear solver is used to estimate an initial position.

Returns:

true if homogeneous linear solver is used, false if an inhomogeneous linear one is used instead.

setHomogeneousLinearSolverUsed

public abstract void setHomogeneousLinearSolverUsed(boolean useHomogeneousLinearSolver)
                                             throws com.irurueta.navigation.LockedException

Specifies whether an homogeneous linear solver is used to estimate an initial position.

Parameters:

useHomogeneousLinearSolver - true if homogeneous linear solver is used, false if an inhomogeneous linear one is used instead.

Throws:

com.irurueta.navigation.LockedException - if estimator is locked.

getMethod

public abstract com.irurueta.numerical.robust.RobustEstimatorMethod getMethod()

Returns method being used for robust estimation.

Returns:

method being used for robust estimation.

solvePreliminarySolutions

protected abstract void solvePreliminarySolutions(int[] samplesIndices,
 List<RobustRangingRadioSourceEstimator.Solution<P>> solutions)

Solves preliminary solution for a subset of samples.

Parameters:

samplesIndices - indices of subset samples.

solutions - instance where solution will be stored.

residual

protected double residual(RobustRangingRadioSourceEstimator.Solution<P> currentEstimation,
 int i)

Estimates residual for a solution obtained for a subset of samples.

Parameters:

currentEstimation - solution obtained for a subset of samples.

i - i-th fingerprint to obtain residual for.

Returns:

difference between measured and expected RSSI value.