Package com.irurueta.navigation.indoor.radiosource

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

java.lang.Object

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

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

Type Parameters:

S - a RadioSource type.

P - a Point type.

Direct Known Subclasses:

RobustRssiRadioSourceEstimator2D, RobustRssiRadioSourceEstimator3D

public abstract class RobustRssiRadioSourceEstimator<S extends RadioSource,P extends com.irurueta.geometry.Point<P>>
extends RobustRadioSourceEstimator<P,RssiReadingLocated<S,P>,RobustRssiRadioSourceEstimatorListener<S,P>>

This is an abstract class to robustly estimate position, transmitted power and path-loss exponent of a radio source (e.g. Wi-Fi access point or bluetooth beacon), by discarding outliers 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: Implementations of this class can choose to estimate 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

Modifier and Type	Class	Description
protected static class	RobustRssiRadioSourceEstimator.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
protected double	estimatedPathLossExponent	Estimated exponent typically used on free space for path loss propagation in terms of distance.
protected Double	estimatedPathLossExponentVariance	Variance of estimated path loss exponent.
protected double	estimatedTransmittedPowerdBm	Estimated transmitted power expressed in dBm's.
protected Double	estimatedTransmittedPowerVariance	Variance of estimated transmitted power.
protected double	initialPathLossExponent	Initial exponent typically used on free space for path loss propagation in terms of distance.
protected P	initialPosition	Initial position to start the estimation of radio source position.
protected Double	initialTransmittedPowerdBm	Initial transmitted power to start the estimation of radio source transmitted power.
protected boolean	pathLossEstimationEnabled	Indicates whether path loss estimation is enabled or not.
protected boolean	positionEstimationEnabled	Indicates whether radio source position estimation is enabled or not.
protected boolean	transmittedPowerEstimationEnabled	Indicates whether transmitted power estimation is enabled or not.

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	RobustRssiRadioSourceEstimator()	Constructor.
protected	RobustRssiRadioSourceEstimator(RobustRssiRadioSourceEstimatorListener<S,P> listener)	Constructor.
protected	RobustRssiRadioSourceEstimator(Double initialTransmittedPowerdBm)	Constructor.
protected	RobustRssiRadioSourceEstimator(Double initialTransmittedPowerdBm, RobustRssiRadioSourceEstimatorListener<S,P> listener)	Constructor.
protected	RobustRssiRadioSourceEstimator(List<? extends RssiReadingLocated<S,P>> readings)	Constructor.
protected	RobustRssiRadioSourceEstimator(List<? extends RssiReadingLocated<S,P>> readings, RobustRssiRadioSourceEstimatorListener<S,P> listener)	Constructor.
protected	RobustRssiRadioSourceEstimator(List<? extends RssiReadingLocated<S,P>> readings, Double initialTransmittedPowerdBm)	Constructor.
protected	RobustRssiRadioSourceEstimator(List<? extends RssiReadingLocated<S,P>> readings, Double initialTransmittedPowerdBm, RobustRssiRadioSourceEstimatorListener<S,P> listener)	Constructor.
protected	RobustRssiRadioSourceEstimator(List<? extends RssiReadingLocated<S,P>> readings, P initialPosition)	Constructor.
protected	RobustRssiRadioSourceEstimator(List<? extends RssiReadingLocated<S,P>> readings, P initialPosition, RobustRssiRadioSourceEstimatorListener<S,P> listener)	Constructor.
protected	RobustRssiRadioSourceEstimator(List<? extends RssiReadingLocated<S,P>> readings, P initialPosition, Double initialTransmittedPowerdBm)	Constructor.
protected	RobustRssiRadioSourceEstimator(List<? extends RssiReadingLocated<S,P>> readings, P initialPosition, Double initialTransmittedPowerdBm, double initialPathLossExponent)	Constructor.
protected	RobustRssiRadioSourceEstimator(List<? extends RssiReadingLocated<S,P>> readings, P initialPosition, Double initialTransmittedPowerdBm, double initialPathLossExponent, RobustRssiRadioSourceEstimatorListener<S,P> listener)	Constructor.
protected	RobustRssiRadioSourceEstimator(List<? extends RssiReadingLocated<S,P>> readings, P initialPosition, Double initialTransmittedPowerdBm, RobustRssiRadioSourceEstimatorListener<S,P> listener)	Constructor.
protected	RobustRssiRadioSourceEstimator(P initialPosition)	Constructor.
protected	RobustRssiRadioSourceEstimator(P initialPosition, RobustRssiRadioSourceEstimatorListener<S,P> listener)	Constructor.
protected	RobustRssiRadioSourceEstimator(P initialPosition, Double initialTransmittedPowerdBm)	Constructor.
protected	RobustRssiRadioSourceEstimator(P initialPosition, Double initialTransmittedPowerdBm, double initialPathLossExponent)	Constructor.
protected	RobustRssiRadioSourceEstimator(P initialPosition, Double initialTransmittedPowerdBm, double initialPathLossExponent, RobustRssiRadioSourceEstimatorListener<S,P> listener)	Constructor.
protected	RobustRssiRadioSourceEstimator(P initialPosition, Double initialTransmittedPowerdBm, RobustRssiRadioSourceEstimatorListener<S,P> listener)	Constructor.

Method Summary

Modifier and Type	Method	Description
double	getEstimatedPathLossExponent()	Gets estimated exponent typically used on free space for path loss propagation in terms of distance.
Double	getEstimatedPathLossExponentVariance()	Gets estimated path loss exponent variance.
double	getEstimatedTransmittedPower()	Gets estimated transmitted power expressed in milli watts (mW).
double	getEstimatedTransmittedPowerdBm()	Gets estimated transmitted power expressed in dBm's.
Double	getEstimatedTransmittedPowerVariance()	Gets estimated transmitted power variance.
double	getInitialPathLossExponent()	Gets initial exponent typically used on free space for path loss propagation in terms of distance.
P	getInitialPosition()	Gets initial position to start the estimation of radio source position.
Double	getInitialTransmittedPower()	Gets initial transmitted power to start the estimation of radio source transmitted power (expressed in mW).
Double	getInitialTransmittedPowerdBm()	Gets initial transmitted power to start the estimation of radio source transmitted power (expressed in dBm's).
abstract com.irurueta.numerical.robust.RobustEstimatorMethod	getMethod()	Returns method being used for robust estimation.
boolean	isPathLossEstimationEnabled()	Indicates whether path loss estimation is enabled or not.
boolean	isPositionEstimationEnabled()	Indicates whether radio source position estimation is enabled or not.
boolean	isReady()	Indicates whether this instance is ready to start the estimation.
boolean	isTransmittedPowerEstimationEnabled()	Indicates whether transmitted power estimation is enabled or not.
protected double	residual(RobustRssiRadioSourceEstimator.Solution<P> currentEstimation, int i)	Estimates residual for a solution obtained for a subset of samples.
void	setInitialPathLossExponent(double initialPathLossExponent)	Sets initial exponent typically used on free space for path loss propagation in terms of distance.
void	setInitialPosition(P initialPosition)	Sets initial position to start the estimation of radio source position.
void	setInitialTransmittedPower(Double initialTransmittedPower)	Sets initial transmitted power to start the estimation of radio source transmitted power (expressed in mW).
void	setInitialTransmittedPowerdBm(Double initialTransmittedPowerdBm)	Sets initial transmitted power to start the estimation of radio source transmitted power (expressed in dBm's).
void	setPathLossEstimationEnabled(boolean pathLossEstimationEnabled)	Specifies whether path loss estimation is enabled or not.
void	setPositionEstimationEnabled(boolean positionEstimationEnabled)	Specifies whether radio source position estimation is enabled or not.
void	setTransmittedPowerEstimationEnabled(boolean transmittedPowerEstimationEnabled)	Specifies whether transmitted power estimation is enabled or not.
protected abstract void	solvePreliminarySolutions(int[] samplesIndices, List<RobustRssiRadioSourceEstimator.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

initialTransmittedPowerdBm

protected Double initialTransmittedPowerdBm

Initial transmitted power to start the estimation of radio source transmitted power. If not defined, average value of received power readings will be used.

initialPosition

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

Initial position to start the estimation of radio source position. If not defined, centroid of provided located readings will be used.

initialPathLossExponent

protected double initialPathLossExponent

Initial exponent typically used on free space for path loss propagation in terms of distance. On different environments path loss exponent might have different values: - Free space: 2.0 - Urban Area: 2.7 to 3.5 - Suburban Area: 3 to 5 - Indoor (line-of-sight): 1.6 to 1.8

If path loss exponent estimation is enabled, estimation will start at this value and will converge to the most appropriate value. If path loss exponent estimation is disabled, this value will be assumed to be exact and the estimated path loss exponent will be equal to this value.

transmittedPowerEstimationEnabled

protected boolean transmittedPowerEstimationEnabled

Indicates whether transmitted power estimation is enabled or not.

positionEstimationEnabled

protected boolean positionEstimationEnabled

Indicates whether radio source position estimation is enabled or not.

pathLossEstimationEnabled

protected boolean pathLossEstimationEnabled

Indicates whether path loss estimation is enabled or not.

estimatedTransmittedPowerdBm

protected double estimatedTransmittedPowerdBm

Estimated transmitted power expressed in dBm's.

estimatedPathLossExponent

protected double estimatedPathLossExponent

Estimated exponent typically used on free space for path loss propagation in terms of distance. On different environments path loss exponent might have different values: - Free space: 2.0 - Urban Area: 2.7 to 3.5 - Suburban Area: 3 to 5 - Indoor (line-of-sight): 1.6 to 1.8 If path loss exponent estimation is not enabled, this value will always be equal to RssiRadioSourceEstimator.DEFAULT_PATH_LOSS_EXPONENT

estimatedTransmittedPowerVariance

protected Double estimatedTransmittedPowerVariance

Variance of estimated transmitted power. This value will only be available when transmitted power estimation is enabled.

estimatedPathLossExponentVariance

protected Double estimatedPathLossExponentVariance

Variance of estimated path loss exponent. This value will only be available when path-loss exponent estimation is enabled.

Constructor Details

RobustRssiRadioSourceEstimator

protected RobustRssiRadioSourceEstimator()

Constructor.

RobustRssiRadioSourceEstimator

protected RobustRssiRadioSourceEstimator(List<? extends RssiReadingLocated<S,P>> 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.

RobustRssiRadioSourceEstimator

protected RobustRssiRadioSourceEstimator(RobustRssiRadioSourceEstimatorListener<S,P> listener)

Constructor.

Parameters:

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

RobustRssiRadioSourceEstimator

protected RobustRssiRadioSourceEstimator(List<? extends RssiReadingLocated<S,P>> readings,
 RobustRssiRadioSourceEstimatorListener<S,P> 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.

RobustRssiRadioSourceEstimator

protected RobustRssiRadioSourceEstimator(List<? extends RssiReadingLocated<S,P>> readings,
 P 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.

RobustRssiRadioSourceEstimator

protected RobustRssiRadioSourceEstimator(P initialPosition)

Constructor.

Parameters:

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

RobustRssiRadioSourceEstimator

protected RobustRssiRadioSourceEstimator(P initialPosition,
 RobustRssiRadioSourceEstimatorListener<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.

RobustRssiRadioSourceEstimator

protected RobustRssiRadioSourceEstimator(List<? extends RssiReadingLocated<S,P>> readings,
 P initialPosition,
 RobustRssiRadioSourceEstimatorListener<S,P> 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.

RobustRssiRadioSourceEstimator

protected RobustRssiRadioSourceEstimator(Double initialTransmittedPowerdBm)

Constructor.

Parameters:

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

RobustRssiRadioSourceEstimator

protected RobustRssiRadioSourceEstimator(List<? extends RssiReadingLocated<S,P>> 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.

RobustRssiRadioSourceEstimator

protected RobustRssiRadioSourceEstimator(Double initialTransmittedPowerdBm,
 RobustRssiRadioSourceEstimatorListener<S,P> 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.

RobustRssiRadioSourceEstimator

protected RobustRssiRadioSourceEstimator(List<? extends RssiReadingLocated<S,P>> readings,
 Double initialTransmittedPowerdBm,
 RobustRssiRadioSourceEstimatorListener<S,P> 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.

RobustRssiRadioSourceEstimator

protected RobustRssiRadioSourceEstimator(List<? extends RssiReadingLocated<S,P>> readings,
 P 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.

RobustRssiRadioSourceEstimator

protected RobustRssiRadioSourceEstimator(P 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).

RobustRssiRadioSourceEstimator

protected RobustRssiRadioSourceEstimator(P initialPosition,
 Double initialTransmittedPowerdBm,
 RobustRssiRadioSourceEstimatorListener<S,P> 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.

RobustRssiRadioSourceEstimator

protected RobustRssiRadioSourceEstimator(List<? extends RssiReadingLocated<S,P>> readings,
 P initialPosition,
 Double initialTransmittedPowerdBm,
 RobustRssiRadioSourceEstimatorListener<S,P> 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.

RobustRssiRadioSourceEstimator

protected RobustRssiRadioSourceEstimator(List<? extends RssiReadingLocated<S,P>> readings,
 P 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.

RobustRssiRadioSourceEstimator

protected RobustRssiRadioSourceEstimator(P 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.

RobustRssiRadioSourceEstimator

protected RobustRssiRadioSourceEstimator(P initialPosition,
 Double initialTransmittedPowerdBm,
 double initialPathLossExponent,
 RobustRssiRadioSourceEstimatorListener<S,P> 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.

RobustRssiRadioSourceEstimator

protected RobustRssiRadioSourceEstimator(List<? extends RssiReadingLocated<S,P>> readings,
 P initialPosition,
 Double initialTransmittedPowerdBm,
 double initialPathLossExponent,
 RobustRssiRadioSourceEstimatorListener<S,P> 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

getInitialTransmittedPowerdBm

public Double getInitialTransmittedPowerdBm()

Gets initial transmitted power to start the estimation of radio source transmitted power (expressed in dBm's). If not defined, average value of received power readings will be used.

Returns:

initial transmitted power to start the estimation of radio source transmitted power.

setInitialTransmittedPowerdBm

public void setInitialTransmittedPowerdBm(Double initialTransmittedPowerdBm)
                                   throws com.irurueta.navigation.LockedException

Sets initial transmitted power to start the estimation of radio source transmitted power (expressed in dBm's). If not defined, average value of received power readings will be used.

Parameters:

initialTransmittedPowerdBm - initial transmitted power to start the estimation of radio source transmitted power.

Throws:

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

getInitialTransmittedPower

public Double getInitialTransmittedPower()

Gets initial transmitted power to start the estimation of radio source transmitted power (expressed in mW). If not defined, average value of received power readings will be used.

Returns:

initial transmitted power to start the estimation of radio source transmitted power.

setInitialTransmittedPower

public void setInitialTransmittedPower(Double initialTransmittedPower)
                                throws com.irurueta.navigation.LockedException

Sets initial transmitted power to start the estimation of radio source transmitted power (expressed in mW). If not defined, average value of received power readings will be used.

Parameters:

initialTransmittedPower - initial transmitted power to start the estimation of radio source transmitted power.

Throws:

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

IllegalArgumentException - if provided value is negative.

getInitialPosition

public P getInitialPosition()

Gets initial position to start the estimation of radio source position. If not defined, centroid of provided fingerprints will be used.

Returns:

initial position to start the estimation of radio source position.

setInitialPosition

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

Sets initial position to start the estimation of radio source position. If not defined, centroid of provided fingerprints will be used.

Parameters:

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

Throws:

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

getInitialPathLossExponent

public double getInitialPathLossExponent()

Gets initial exponent typically used on free space for path loss propagation in terms of distance. On different environments path loss exponent might have different value: - Free space: 2.0 - Urban Area: 2.7 to 3.5 - Suburban Area: 3 to 5 - Indoor (line-of-sight): 1.6 to 1.8

If path loss exponent estimation is enabled, estimation will start at this value and will converge to the most appropriate value. If path loss exponent estimation is disabled, this value will be assumed to be exact and the estimated path loss exponent will be equal to this value.

Returns:

initial path loss exponent.

setInitialPathLossExponent

public void setInitialPathLossExponent(double initialPathLossExponent)
                                throws com.irurueta.navigation.LockedException

Sets initial exponent typically used on free space for path loss propagation in terms of distance. On different environments path loss exponent might have different value: - Free space: 2.0 - Urban Area: 2.7 to 3.5 - Suburban Area: 3 to 5 - Indoor (line-of-sight): 1.6 to 1.8

If path loss exponent estimation is enabled, estimation will start at this value and will converge to the most appropriate value. If path loss exponent estimation is disabled, this value will be assumed to be exact and the estimated path loss exponent will be equal to this value.

Parameters:

initialPathLossExponent - initial path loss exponent.

Throws:

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

isTransmittedPowerEstimationEnabled

public boolean isTransmittedPowerEstimationEnabled()

Indicates whether transmitted power estimation is enabled or not.

Returns:

true if transmitted power estimation is enabled, false otherwise.

setTransmittedPowerEstimationEnabled

public void setTransmittedPowerEstimationEnabled(boolean transmittedPowerEstimationEnabled)
                                          throws com.irurueta.navigation.LockedException

Specifies whether transmitted power estimation is enabled or not.

Parameters:

transmittedPowerEstimationEnabled - true if transmitted power estimation is enabled, false otherwise.

Throws:

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

isPositionEstimationEnabled

public boolean isPositionEstimationEnabled()

Indicates whether radio source position estimation is enabled or not.

Returns:

true if position estimation is enabled, false otherwise.

setPositionEstimationEnabled

public void setPositionEstimationEnabled(boolean positionEstimationEnabled)
                                  throws com.irurueta.navigation.LockedException

Specifies whether radio source position estimation is enabled or not.

Parameters:

positionEstimationEnabled - true if position estimation is enabled, false otherwise.

Throws:

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

isPathLossEstimationEnabled

public boolean isPathLossEstimationEnabled()

Indicates whether path loss estimation is enabled or not.

Returns:

true if path loss estimation is enabled, false otherwise.

setPathLossEstimationEnabled

public void setPathLossEstimationEnabled(boolean pathLossEstimationEnabled)
                                  throws com.irurueta.navigation.LockedException

Specifies whether path loss estimation is enabled or not.

Parameters:

pathLossEstimationEnabled - true if path loss estimation is enabled, 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>,RssiReadingLocated<S extends RadioSource,P extends com.irurueta.geometry.Point<P>>,RobustRssiRadioSourceEstimatorListener<S extends RadioSource,P extends com.irurueta.geometry.Point<P>>>

Returns:

true if this instance is ready, false otherwise.

getEstimatedTransmittedPowerVariance

public Double getEstimatedTransmittedPowerVariance()

Gets estimated transmitted power variance. This is only available when result has been refined and covariance is kept.

Returns:

estimated transmitted power variance.

getEstimatedPathLossExponentVariance

public Double getEstimatedPathLossExponentVariance()

Gets estimated path loss exponent variance. This is only available when result has been refined and covariance is kept.

Returns:

estimated path loss exponent variance.

getEstimatedTransmittedPower

public double getEstimatedTransmittedPower()

Gets estimated transmitted power expressed in milli watts (mW).

Returns:

estimated transmitted power expressed in milli watts.

getEstimatedTransmittedPowerdBm

public double getEstimatedTransmittedPowerdBm()

Gets estimated transmitted power expressed in dBm's.

Returns:

estimated transmitted power expressed in dBm's.

getEstimatedPathLossExponent

public double getEstimatedPathLossExponent()

Gets estimated exponent typically used on free space for path loss propagation in terms of distance. On different environments path loss exponent might have different values: - Free space: 2.0 - Urban Area: 2.7 to 3.5 - Suburban Area: 3 to 5 - Indoor (line-of-sight): 1.6 to 1.8 If path loss exponent estimation is not enabled, this value will always be equal to RssiRadioSourceEstimator.DEFAULT_PATH_LOSS_EXPONENT

Returns:

estimated path loss exponent.

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<RobustRssiRadioSourceEstimator.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(RobustRssiRadioSourceEstimator.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.