Package com.irurueta.navigation.indoor.radiosource

Class RssiRadioSourceEstimator3D<S extends RadioSource>

java.lang.Object

com.irurueta.navigation.indoor.radiosource.RadioSourceEstimator<com.irurueta.geometry.Point3D,RssiReadingLocated<S,com.irurueta.geometry.Point3D>,RssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D>>

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

com.irurueta.navigation.indoor.radiosource.RssiRadioSourceEstimator3D<S>

Type Parameters:

S - a RadioSource type.

public class RssiRadioSourceEstimator3D<S extends RadioSource>
extends RssiRadioSourceEstimator<S,com.irurueta.geometry.Point3D>

Estimates 3D position and transmitted power of a radio source 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 Wi-Fi signal. Because usually information about the antenna of the radio source cannot be retrieved (because many measurements are made on unknown radio sources 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.

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.

Field Summary

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

DEFAULT_PATH_LOSS_EXPONENT, DEFAULT_PATHLOSS_ESTIMATION_ENABLED, DEFAULT_POSITION_ESTIMATION_ENABLED, DEFAULT_POWER_STANDARD_DEVIATION, DEFAULT_TRANSMITTED_POWER_ESTIMATION_ENABLED, SPEED_OF_LIGHT

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

estimatedCovariance, estimatedPositionCoordinates, estimatedPositionCovariance, listener, locked, readings

Constructor Summary

Constructors

Constructor	Description
RssiRadioSourceEstimator3D()	Constructor.
RssiRadioSourceEstimator3D(com.irurueta.geometry.Point3D initialPosition)	Constructor.
RssiRadioSourceEstimator3D(com.irurueta.geometry.Point3D initialPosition, RssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)	Constructor.
RssiRadioSourceEstimator3D(com.irurueta.geometry.Point3D initialPosition, Double initialTransmittedPowerdBm)	Constructor.
RssiRadioSourceEstimator3D(com.irurueta.geometry.Point3D initialPosition, Double initialTransmittedPowerdBm, double initialPathLossExponent)	Constructor.
RssiRadioSourceEstimator3D(com.irurueta.geometry.Point3D initialPosition, Double initialTransmittedPowerdBm, double initialPathLossExponent, RssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)	Constructor.
RssiRadioSourceEstimator3D(com.irurueta.geometry.Point3D initialPosition, Double initialTransmittedPowerdBm, RssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)	Constructor.
RssiRadioSourceEstimator3D(RssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)	Constructor.
RssiRadioSourceEstimator3D(Double initialTransmittedPowerdBm)	Constructor.
RssiRadioSourceEstimator3D(Double initialTransmittedPowerdBm, RssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)	Constructor.
RssiRadioSourceEstimator3D(List<? extends RssiReadingLocated<S,com.irurueta.geometry.Point3D>> readings)	Constructor.
RssiRadioSourceEstimator3D(List<? extends RssiReadingLocated<S,com.irurueta.geometry.Point3D>> readings, com.irurueta.geometry.Point3D initialPosition)	Constructor.
RssiRadioSourceEstimator3D(List<? extends RssiReadingLocated<S,com.irurueta.geometry.Point3D>> readings, com.irurueta.geometry.Point3D initialPosition, RssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)	Constructor.
RssiRadioSourceEstimator3D(List<? extends RssiReadingLocated<S,com.irurueta.geometry.Point3D>> readings, com.irurueta.geometry.Point3D initialPosition, Double initialTransmittedPowerdBm)	Constructor.
RssiRadioSourceEstimator3D(List<? extends RssiReadingLocated<S,com.irurueta.geometry.Point3D>> readings, com.irurueta.geometry.Point3D initialPosition, Double initialTransmittedPowerdBm, double initialPathLossExponent)	Constructor.
RssiRadioSourceEstimator3D(List<? extends RssiReadingLocated<S,com.irurueta.geometry.Point3D>> readings, com.irurueta.geometry.Point3D initialPosition, Double initialTransmittedPowerdBm, double initialPathLossExponent, RssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)	Constructor.
RssiRadioSourceEstimator3D(List<? extends RssiReadingLocated<S,com.irurueta.geometry.Point3D>> readings, com.irurueta.geometry.Point3D initialPosition, Double initialTransmittedPowerdBm, RssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)	Constructor.
RssiRadioSourceEstimator3D(List<? extends RssiReadingLocated<S,com.irurueta.geometry.Point3D>> readings, RssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)	Constructor.
RssiRadioSourceEstimator3D(List<? extends RssiReadingLocated<S,com.irurueta.geometry.Point3D>> readings, Double initialTransmittedPowerdBm)	Constructor.
RssiRadioSourceEstimator3D(List<? extends RssiReadingLocated<S,com.irurueta.geometry.Point3D>> readings, Double initialTransmittedPowerdBm, RssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)	Constructor.

Method Summary

Modifier and Type	Method	Description
com.irurueta.geometry.Point3D	getEstimatedPosition()	Gets estimated radio source 3D position.
RadioSourceWithPowerAndLocated<com.irurueta.geometry.Point3D>	getEstimatedRadioSource()	Gets estimated located radio source with estimated transmitted power.
int	getMinReadings()	Gets minimum required number of readings to estimate power, position and path-loss exponent.
int	getNumberOfDimensions()	Gets number of dimensions of position points.

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

estimate, getChiSq, getEstimatedPathLossExponent, getEstimatedPathLossExponentVariance, getEstimatedTransmittedPower, getEstimatedTransmittedPowerdBm, getEstimatedTransmittedPowerVariance, getInitialPathLossExponent, getInitialPosition, getInitialTransmittedPower, getInitialTransmittedPowerdBm, isPathLossEstimationEnabled, isPositionEstimationEnabled, isReady, isTransmittedPowerEstimationEnabled, setInitialPathLossExponent, setInitialPosition, setInitialTransmittedPower, setInitialTransmittedPowerdBm, setPathLossEstimationEnabled, setPositionEstimationEnabled, setTransmittedPowerEstimationEnabled

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

RssiRadioSourceEstimator3D

public RssiRadioSourceEstimator3D()

Constructor.

RssiRadioSourceEstimator3D

public RssiRadioSourceEstimator3D(List<? extends RssiReadingLocated<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 source.

Throws:

IllegalArgumentException - if readings are not valid.

RssiRadioSourceEstimator3D

public RssiRadioSourceEstimator3D(RssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)

Constructor.

Parameters:

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

RssiRadioSourceEstimator3D

public RssiRadioSourceEstimator3D(List<? extends RssiReadingLocated<S,com.irurueta.geometry.Point3D>> readings,
 RssiRadioSourceEstimatorListener<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.

RssiRadioSourceEstimator3D

public RssiRadioSourceEstimator3D(com.irurueta.geometry.Point3D initialPosition)

Constructor.

Parameters:

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

RssiRadioSourceEstimator3D

public RssiRadioSourceEstimator3D(List<? extends RssiReadingLocated<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.

RssiRadioSourceEstimator3D

public RssiRadioSourceEstimator3D(com.irurueta.geometry.Point3D initialPosition,
 RssiRadioSourceEstimatorListener<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.

RssiRadioSourceEstimator3D

public RssiRadioSourceEstimator3D(List<? extends RssiReadingLocated<S,com.irurueta.geometry.Point3D>> readings,
 com.irurueta.geometry.Point3D initialPosition,
 RssiRadioSourceEstimatorListener<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.

RssiRadioSourceEstimator3D

public RssiRadioSourceEstimator3D(Double initialTransmittedPowerdBm)

Constructor.

Parameters:

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

RssiRadioSourceEstimator3D

public RssiRadioSourceEstimator3D(List<? extends RssiReadingLocated<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.

RssiRadioSourceEstimator3D

public RssiRadioSourceEstimator3D(Double initialTransmittedPowerdBm,
 RssiRadioSourceEstimatorListener<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.

RssiRadioSourceEstimator3D

public RssiRadioSourceEstimator3D(List<? extends RssiReadingLocated<S,com.irurueta.geometry.Point3D>> readings,
 Double initialTransmittedPowerdBm,
 RssiRadioSourceEstimatorListener<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.

RssiRadioSourceEstimator3D

public RssiRadioSourceEstimator3D(List<? extends RssiReadingLocated<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 access point transmitted power (expressed in dBm's)

Throws:

IllegalArgumentException - if readings are not valid.

RssiRadioSourceEstimator3D

public RssiRadioSourceEstimator3D(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)

RssiRadioSourceEstimator3D

public RssiRadioSourceEstimator3D(com.irurueta.geometry.Point3D initialPosition,
 Double initialTransmittedPowerdBm,
 RssiRadioSourceEstimatorListener<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.

RssiRadioSourceEstimator3D

public RssiRadioSourceEstimator3D(List<? extends RssiReadingLocated<S,com.irurueta.geometry.Point3D>> readings,
 com.irurueta.geometry.Point3D initialPosition,
 Double initialTransmittedPowerdBm,
 RssiRadioSourceEstimatorListener<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.

RssiRadioSourceEstimator3D

public RssiRadioSourceEstimator3D(List<? extends RssiReadingLocated<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.

RssiRadioSourceEstimator3D

public RssiRadioSourceEstimator3D(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.

RssiRadioSourceEstimator3D

public RssiRadioSourceEstimator3D(com.irurueta.geometry.Point3D initialPosition,
 Double initialTransmittedPowerdBm,
 double initialPathLossExponent,
 RssiRadioSourceEstimatorListener<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.

RssiRadioSourceEstimator3D

public RssiRadioSourceEstimator3D(List<? extends RssiReadingLocated<S,com.irurueta.geometry.Point3D>> readings,
 com.irurueta.geometry.Point3D initialPosition,
 Double initialTransmittedPowerdBm,
 double initialPathLossExponent,
 RssiRadioSourceEstimatorListener<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

getMinReadings

public int getMinReadings()

Gets minimum required number of readings to estimate power, position and path-loss exponent. This value depends on the number of parameters to be estimated, but for position only, this is 4 readings for 3D.

Specified by:

getMinReadings in class RadioSourceEstimator<com.irurueta.geometry.Point3D,RssiReadingLocated<S extends RadioSource,com.irurueta.geometry.Point3D>,RssiRadioSourceEstimatorListener<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,RssiReadingLocated<S extends RadioSource,com.irurueta.geometry.Point3D>,RssiRadioSourceEstimatorListener<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,RssiReadingLocated<S extends RadioSource,com.irurueta.geometry.Point3D>,RssiRadioSourceEstimatorListener<S extends RadioSource,com.irurueta.geometry.Point3D>>

Returns:

estimated radio source 3D position.

getEstimatedRadioSource

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

Gets estimated located radio source with estimated transmitted power.

Specified by:

getEstimatedRadioSource in class RadioSourceEstimator<com.irurueta.geometry.Point3D,RssiReadingLocated<S extends RadioSource,com.irurueta.geometry.Point3D>,RssiRadioSourceEstimatorListener<S extends RadioSource,com.irurueta.geometry.Point3D>>

Returns:

estimated located radio source with estimated transmitted power or null.