PROMedSRobustRssiPositionEstimator2D.java
/*
* Copyright (C) 2019 Alberto Irurueta Carro (alberto@irurueta.com)
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
package com.irurueta.navigation.indoor.position;
import com.irurueta.geometry.Point2D;
import com.irurueta.navigation.LockedException;
import com.irurueta.navigation.indoor.RadioSource;
import com.irurueta.navigation.indoor.RadioSourceLocated;
import com.irurueta.navigation.indoor.RssiFingerprint;
import com.irurueta.navigation.indoor.RssiReading;
import com.irurueta.navigation.lateration.PROMedSRobustLateration2DSolver;
import com.irurueta.numerical.robust.RobustEstimatorMethod;
import java.util.List;
/**
* Robustly estimates 2D position using located radio sources and their RSSI
* readings at unknown locations and using PROMedS algorithm to discard outliers.
* This kind of estimator can be used to robustly determine the 2D position of a given
* device by getting RSSI readings at an unknown location of different radio sources whose
* 2D locations are known.
*/
public class PROMedSRobustRssiPositionEstimator2D extends RobustRssiPositionEstimator2D {
/**
* Quality scores corresponding to each provided located radio source.
* The larger the score value the better the quality of the radio source.
*/
private double[] sourceQualityScores;
/**
* Quality scores corresponding to each reading within provided fingerprint.
* The larger the score value the better the quality of the reading.
*/
private double[] fingerprintReadingsQualityScores;
/**
* Constructor.
*/
public PROMedSRobustRssiPositionEstimator2D() {
super();
init();
}
/**
* Constructor.
*
* @param sources located radio sources used for lateration.
* @throws IllegalArgumentException if provided sources is null or the number of
* provided sources is less than the required minimum.
*/
public PROMedSRobustRssiPositionEstimator2D(final List<? extends RadioSourceLocated<Point2D>> sources) {
super();
init();
internalSetSources(sources);
}
/**
* Constructor.
*
* @param fingerprint fingerprint containing RSSI readings at an unknown location for
* provided located radio sources.
* @throws IllegalArgumentException if provided fingerprint is null.
*/
public PROMedSRobustRssiPositionEstimator2D(
final RssiFingerprint<? extends RadioSource, ? extends RssiReading<? extends RadioSource>> fingerprint) {
super();
init();
internalSetFingerprint(fingerprint);
}
/**
* Constructor.
*
* @param sources located radio sources used for lateration.
* @param fingerprint fingerprint containing RSSI readings at an unknown location
* for provided located radio sources.
* @throws IllegalArgumentException if either provided sources or fingerprint is null
* or the number of provided sources is less than the required minimum.
*/
public PROMedSRobustRssiPositionEstimator2D(
final List<? extends RadioSourceLocated<Point2D>> sources,
final RssiFingerprint<? extends RadioSource, ? extends RssiReading<? extends RadioSource>> fingerprint) {
super();
init();
internalSetSources(sources);
internalSetFingerprint(fingerprint);
}
/**
* Constructor.
*
* @param listener listener in charge of handling events.
*/
public PROMedSRobustRssiPositionEstimator2D(final RobustRssiPositionEstimatorListener<Point2D> listener) {
super(listener);
init();
}
/**
* Constructor.
*
* @param sources located radio sources used for lateration.
* @param listener listener in charge of handling events.
* @throws IllegalArgumentException if provided sources is null or the number of
* provided sources is less than the required minimum.
*/
public PROMedSRobustRssiPositionEstimator2D(
final List<? extends RadioSourceLocated<Point2D>> sources,
final RobustRssiPositionEstimatorListener<Point2D> listener) {
super(listener);
init();
internalSetSources(sources);
}
/**
* Constructor.
*
* @param fingerprint fingerprint containing RSSI readings at an unknown location
* for provided location radio sources.
* @param listener listener in charge of handling events.
* @throws IllegalArgumentException if provided fingerprint is null.
*/
public PROMedSRobustRssiPositionEstimator2D(
final RssiFingerprint<? extends RadioSource, ? extends RssiReading<? extends RadioSource>> fingerprint,
final RobustRssiPositionEstimatorListener<Point2D> listener) {
super(listener);
init();
internalSetFingerprint(fingerprint);
}
/**
* Constructor.
*
* @param sources located radio sources used for lateration.
* @param fingerprint fingerprint containing RSSI readings at an unknown location
* for provided located radio sources.
* @param listener listener in charge of handling events.
* @throws IllegalArgumentException if either provided sources or fingerprint is
* null or the number of provided sources is less than the required minimum.
*/
public PROMedSRobustRssiPositionEstimator2D(
final List<? extends RadioSourceLocated<Point2D>> sources,
final RssiFingerprint<? extends RadioSource, ? extends RssiReading<? extends RadioSource>> fingerprint,
final RobustRssiPositionEstimatorListener<Point2D> listener) {
super(listener);
init();
internalSetSources(sources);
internalSetFingerprint(fingerprint);
}
/**
* Constructor.
*
* @param sourceQualityScores quality scores corresponding to
* each provided located radio source.
* The larger the score value the better
* the quality of the radio source.
* @param fingerprintReadingsQualityScores quality scores corresponding to readings
* within provided fingerprint. The larger
* the score the better the quality of the
* reading.
*/
public PROMedSRobustRssiPositionEstimator2D(
final double[] sourceQualityScores, final double[] fingerprintReadingsQualityScores) {
this();
internalSetSourceQualityScores(sourceQualityScores);
internalSetFingerprintReadingsQualityScores(fingerprintReadingsQualityScores);
}
/**
* Constructor.
*
* @param sourceQualityScores quality scores corresponding to
* each provided located radio source.
* The larger the score value the better
* the quality of the radio source.
* @param fingerprintReadingsQualityScores quality scores corresponding to readings
* within provided fingerprint. The larger
* the score the better the quality of the
* reading.
* @param sources located radio sources used for
* lateration.
* @throws IllegalArgumentException if provided sources is null or the number of
* provided sources is less than the required minimum.
*/
public PROMedSRobustRssiPositionEstimator2D(
final double[] sourceQualityScores, final double[] fingerprintReadingsQualityScores,
final List<? extends RadioSourceLocated<Point2D>> sources) {
this(sources);
internalSetSourceQualityScores(sourceQualityScores);
internalSetFingerprintReadingsQualityScores(fingerprintReadingsQualityScores);
}
/**
* Constructor.
*
* @param sourceQualityScores quality scores corresponding to
* each provided located radio source.
* The larger the score value the better
* the quality of the radio source.
* @param fingerprintReadingsQualityScores quality scores corresponding to readings
* within provided fingerprint. The larger
* the score the better the quality of the
* reading.
* @param fingerprint fingerprint containing RSSI readings at
* an unknown location for provided located
* radio sources.
* @throws IllegalArgumentException if provided fingerprint is null.
*/
public PROMedSRobustRssiPositionEstimator2D(
final double[] sourceQualityScores, final double[] fingerprintReadingsQualityScores,
final RssiFingerprint<? extends RadioSource, ? extends RssiReading<? extends RadioSource>> fingerprint) {
this(fingerprint);
internalSetSourceQualityScores(sourceQualityScores);
internalSetFingerprintReadingsQualityScores(fingerprintReadingsQualityScores);
}
/**
* Constructor.
*
* @param sourceQualityScores quality scores corresponding to
* each provided located radio source.
* The larger the score value the better
* the quality of the radio source.
* @param fingerprintReadingsQualityScores quality scores corresponding to readings
* within provided fingerprint. The larger
* the score the better the quality of the
* reading.
* @param sources located radio sources used for
* lateration.
* @param fingerprint fingerprint containing RSSI readings at an
* unknown location for provided located
* radio sources.
* @throws IllegalArgumentException if either provided sources or fingerprint is null
* or the number of provided sources is less than the required minimum.
*/
public PROMedSRobustRssiPositionEstimator2D(
final double[] sourceQualityScores, final double[] fingerprintReadingsQualityScores,
final List<? extends RadioSourceLocated<Point2D>> sources,
final RssiFingerprint<? extends RadioSource, ? extends RssiReading<? extends RadioSource>> fingerprint) {
this(sources, fingerprint);
internalSetSourceQualityScores(sourceQualityScores);
internalSetFingerprintReadingsQualityScores(fingerprintReadingsQualityScores);
}
/**
* Constructor.
*
* @param sourceQualityScores quality scores corresponding to
* each provided located radio source.
* The larger the score value the better
* the quality of the radio source.
* @param fingerprintReadingsQualityScores quality scores corresponding to readings
* within provided fingerprint. The larger
* the score the better the quality of the
* reading.
* @param listener listener in charge of handling events.
*/
public PROMedSRobustRssiPositionEstimator2D(
final double[] sourceQualityScores, final double[] fingerprintReadingsQualityScores,
final RobustRssiPositionEstimatorListener<Point2D> listener) {
this(listener);
internalSetSourceQualityScores(sourceQualityScores);
internalSetFingerprintReadingsQualityScores(fingerprintReadingsQualityScores);
}
/**
* Constructor.
*
* @param sourceQualityScores quality scores corresponding to
* each provided located radio source.
* The larger the score value the better
* the quality of the radio source.
* @param fingerprintReadingsQualityScores quality scores corresponding to readings
* within provided fingerprint. The larger
* the score the better the quality of the
* reading.
* @param sources located radio sources used for
* lateration.
* @param listener listener in charge of handling events.
* @throws IllegalArgumentException if provided sources is null or the number of
* provided sources is less than the required minimum.
*/
public PROMedSRobustRssiPositionEstimator2D(
final double[] sourceQualityScores, final double[] fingerprintReadingsQualityScores,
final List<? extends RadioSourceLocated<Point2D>> sources,
final RobustRssiPositionEstimatorListener<Point2D> listener) {
this(sources, listener);
internalSetSourceQualityScores(sourceQualityScores);
internalSetFingerprintReadingsQualityScores(fingerprintReadingsQualityScores);
}
/**
* Constructor.
*
* @param sourceQualityScores quality scores corresponding to
* each provided located radio source.
* The larger the score value the better
* the quality of the radio source.
* @param fingerprintReadingsQualityScores quality scores corresponding to readings
* within provided fingerprint. The larger
* the score the better the quality of the
* reading.
* @param fingerprint fingerprint containing RSSI readings at an
* unknown location for provided location
* radio sources.
* @param listener listener in charge of handling events.
* @throws IllegalArgumentException if provided fingerprint is null.
*/
public PROMedSRobustRssiPositionEstimator2D(
final double[] sourceQualityScores, final double[] fingerprintReadingsQualityScores,
final RssiFingerprint<? extends RadioSource, ? extends RssiReading<? extends RadioSource>> fingerprint,
final RobustRssiPositionEstimatorListener<Point2D> listener) {
this(fingerprint, listener);
internalSetSourceQualityScores(sourceQualityScores);
internalSetFingerprintReadingsQualityScores(fingerprintReadingsQualityScores);
}
/**
* Constructor.
*
* @param sourceQualityScores quality scores corresponding to
* each provided located radio source.
* The larger the score value the better
* the quality of the radio source.
* @param fingerprintReadingsQualityScores quality scores corresponding to readings
* within provided fingerprint. The larger
* the score the better the quality of the
* reading.
* @param sources located radio sources used for
* lateration.
* @param fingerprint fingerprint containing RSSI readings at an
* unknown location for provided located
* radio sources.
* @param listener listener in charge of handling events.
* @throws IllegalArgumentException if either provided sources or fingerprint is
* null or the number of provided sources is less than the required minimum.
*/
public PROMedSRobustRssiPositionEstimator2D(
final double[] sourceQualityScores, final double[] fingerprintReadingsQualityScores,
final List<? extends RadioSourceLocated<Point2D>> sources,
final RssiFingerprint<? extends RadioSource, ? extends RssiReading<? extends RadioSource>> fingerprint,
final RobustRssiPositionEstimatorListener<Point2D> listener) {
this(sources, fingerprint, listener);
internalSetSourceQualityScores(sourceQualityScores);
internalSetFingerprintReadingsQualityScores(fingerprintReadingsQualityScores);
}
/**
* Returns quality scores corresponding to each radio source.
* The larger the score value the better the quality of the sample.
*
* @return quality scores corresponding to each radio source.
*/
@Override
public double[] getSourceQualityScores() {
return sourceQualityScores;
}
/**
* Sets quality scores corresponding to each radio source.
* The larger the score value the better the quality of the radio source.
*
* @param sourceQualityScores quality scores corresponding to each radio source.
* @throws LockedException if this instance is locked.
* @throws IllegalArgumentException if provided quality scores length is smaller
* than minimum required samples.
*/
@Override
public void setSourceQualityScores(final double[] sourceQualityScores) throws LockedException {
if (isLocked()) {
throw new LockedException();
}
internalSetSourceQualityScores(sourceQualityScores);
}
/**
* Gets quality scores corresponding to each reading within provided fingerprint.
* The larger the score value the better the quality of the reading.
* This implementation always returns null.
* Subclasses using quality scores must implement proper behavior.
*
* @return quality scores corresponding to each reading within provided
* fingerprint.
*/
@Override
public double[] getFingerprintReadingsQualityScores() {
return fingerprintReadingsQualityScores;
}
/**
* Sets quality scores corresponding to each reading within provided fingerprint.
* The larger the score value the better the quality of the reading.
* This implementation makes no action.
* Subclasses using quality scores must implement proper behavior.
*
* @param fingerprintReadingsQualityScores quality scores corresponding to each
* reading within provided fingerprint.
* @throws LockedException if this instance is locked.
* @throws IllegalArgumentException if provided quality scores length is smaller
* than minimum required samples.
*/
@Override
public void setFingerprintReadingsQualityScores(final double[] fingerprintReadingsQualityScores)
throws LockedException {
if (isLocked()) {
throw new LockedException();
}
internalSetFingerprintReadingsQualityScores(fingerprintReadingsQualityScores);
}
/**
* Returns threshold to be used to keep the algorithm iterating in case that
* best estimated threshold using median of residuals is not small enough.
* Once a solution is found that generates a threshold below this value, the
* algorithm will stop.
* The stop threshold can be used to prevent the LMedS algorithm to iterate
* too many times in cases where samples have a very similar accuracy.
* For instance, in cases where proportion of outliers is very small (close
* to 0%), and samples are very accurate (i.e. 1e-6), the algorithm would
* iterate for a long time trying to find the best solution when indeed
* there is no need to do that if a reasonable threshold has already been
* reached.
* Because of this behaviour the stop threshold can be set to a value much
* lower than the one typically used in RANSAC, and yet the algorithm could
* still produce even smaller thresholds in estimated results.
*
* @return stop threshold to stop the algorithm prematurely when a certain
* accuracy has been reached.
*/
public double getStopThreshold() {
return ((PROMedSRobustLateration2DSolver) laterationSolver).getStopThreshold();
}
/**
* Sets threshold to be used to keep the algorithm iterating in case that
* best estimated threshold using median of residuals is not small enough.
* Once a solution is found that generates a threshold below this value,
* the algorithm will stop.
* The stop threshold can be used to prevent the LMedS algorithm to iterate
* too many times in cases where samples have a very similar accuracy.
* For instance, in cases where proportion of outliers is very small (close
* to 0%), and samples are very accurate (i.e. 1e-6), the algorithm would
* iterate for a long time trying to find the best solution when indeed
* there is no need to do that if a reasonable threshold has already been
* reached.
* Because of this behaviour the stop threshold can be set to a value much
* lower than the one typically used in RANSAC, and yet the algorithm could
* still produce even smaller thresholds in estimated results.
*
* @param stopThreshold stop threshold to stop the algorithm prematurely
* when a certain accuracy has been reached.
* @throws IllegalArgumentException if provided value is zero or negative.
* @throws LockedException if this solver is locked.
*/
public void setStopThreshold(final double stopThreshold) throws LockedException {
((PROMedSRobustLateration2DSolver) laterationSolver).setStopThreshold(stopThreshold);
}
/**
* Returns method being used for robust estimation.
*
* @return method being used for robust estimation.
*/
@Override
public RobustEstimatorMethod getMethod() {
return RobustEstimatorMethod.PROMEDS;
}
/**
* Initializes robust lateration solver.
*/
private void init() {
laterationSolver = new PROMedSRobustLateration2DSolver(trilaterationSolverListener);
}
/**
* Sets quality scores corresponding to each provided located radio source.
* This method is used internally and does not check whether instance is
* locked or not.
*
* @param sourceQualityScores quality scores to be set.
* @throws IllegalArgumentException if provided quality scores length
* is smaller than 3 samples.
*/
private void internalSetSourceQualityScores(final double[] sourceQualityScores) {
if (sourceQualityScores == null || sourceQualityScores.length < getMinRequiredSources()) {
throw new IllegalArgumentException();
}
this.sourceQualityScores = sourceQualityScores;
buildPositionsDistancesDistanceStandardDeviationsAndQualityScores();
}
/**
* Sets quality scores corresponding to each provided reading within provided
* fingerprint.
* This method is used internally and does not check whether instance is locked
* or not.
*
* @param fingerprintReadingsQualityScores quality scores to be set.
* @throws IllegalArgumentException if provided quality scores length is
* smaller than 3 samples.
*/
private void internalSetFingerprintReadingsQualityScores(final double[] fingerprintReadingsQualityScores) {
if (fingerprintReadingsQualityScores == null
|| fingerprintReadingsQualityScores.length < getMinRequiredSources()) {
throw new IllegalArgumentException();
}
this.fingerprintReadingsQualityScores = fingerprintReadingsQualityScores;
buildPositionsDistancesDistanceStandardDeviationsAndQualityScores();
}
}