RangingAndRssiRadioSourceEstimator2D.java
/*
* Copyright (C) 2018 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.radiosource;
import com.irurueta.geometry.Point2D;
import com.irurueta.navigation.indoor.Beacon;
import com.irurueta.navigation.indoor.BeaconWithPowerAndLocated2D;
import com.irurueta.navigation.indoor.RadioSource;
import com.irurueta.navigation.indoor.RadioSourceLocated;
import com.irurueta.navigation.indoor.RangingAndRssiReadingLocated;
import com.irurueta.navigation.indoor.WifiAccessPoint;
import com.irurueta.navigation.indoor.WifiAccessPointWithPowerAndLocated2D;
import java.util.List;
/**
* Estimates 2D position, transmitted power and path loss exponent of a
* radio source (e.g. Wi-Fi access point or bluetooth beacon) assuming
* that the ranging data is available to obtain position with greater
* accuracy and 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 Readings contain RSSI standard deviations, those values will be used,
* otherwise it will be assumed an RSSI standard deviation of 1 dB.
* <p>
* Although RssiRadioSourceEstimator can estimate the same parameters of a radio
* source, when ranging measures are available along with RSSI measurements,
* implementations of this class should be preferred instead as they can provide
* greater accuracy.
*
* @param <S> a {@link RadioSource} type.
*/
@SuppressWarnings("Duplicates")
public class RangingAndRssiRadioSourceEstimator2D<S extends RadioSource> extends
RangingAndRssiRadioSourceEstimator<S, Point2D> {
/**
* Constructor.
*/
public RangingAndRssiRadioSourceEstimator2D() {
super();
}
/**
* Constructor.
* Sets radio signal readings belonging to the same radio source.
*
* @param readings radio signal readings belonging to the same
* radio sources.
* @throws IllegalArgumentException if readings are not valid.
*/
public RangingAndRssiRadioSourceEstimator2D(
final List<? extends RangingAndRssiReadingLocated<S, Point2D>> readings) {
super(readings);
}
/**
* Constructor.
*
* @param listener listener in charge of attending events raised by this instance.
*/
public RangingAndRssiRadioSourceEstimator2D(final RangingAndRssiRadioSourceEstimatorListener<S, Point2D> listener) {
super(listener);
}
/**
* Constructor.
* Sets radio signal readings belonging to the same radio source.
*
* @param readings radio signal readings belonging to the same radio source.
* @param listener listener in charge of attending events raised by this instance.
* @throws IllegalArgumentException if readings are not valid.
*/
public RangingAndRssiRadioSourceEstimator2D(final List<? extends RangingAndRssiReadingLocated<S, Point2D>> readings,
final RangingAndRssiRadioSourceEstimatorListener<S, Point2D> listener) {
super(readings, listener);
}
/**
* Constructor.
*
* @param initialPosition initial position to start the estimation of radio
* source position.
*/
public RangingAndRssiRadioSourceEstimator2D(final Point2D initialPosition) {
super(initialPosition);
}
/**
* Constructor.
* Sets radio signal readings belonging to the same radio source.
*
* @param readings radio signal readings belonging to the same radio source.
* @param initialPosition initial position to start the estimation of radio
* source position.
* @throws IllegalArgumentException if readings are not valid.
*/
public RangingAndRssiRadioSourceEstimator2D(
final List<? extends RangingAndRssiReadingLocated<S, Point2D>> readings, final Point2D initialPosition) {
super(readings, initialPosition);
}
/**
* Constructor.
*
* @param initialPosition initial position to start the estimation of radio
* source position.
* @param listener listener in charge of attending events raised by this instance.
*/
public RangingAndRssiRadioSourceEstimator2D(
final Point2D initialPosition, final RangingAndRssiRadioSourceEstimatorListener<S, Point2D> listener) {
super(initialPosition, listener);
}
/**
* Constructor.
* Sets radio signal readings belonging to the same radio source.
*
* @param readings radio signal readings belonging to the same radio source.
* @param initialPosition initial position to start the estimation of radio
* source position.
* @param listener listener in charge of attending events raised by this instance.
* @throws IllegalArgumentException if readings are not valid.
*/
public RangingAndRssiRadioSourceEstimator2D(
final List<? extends RangingAndRssiReadingLocated<S, Point2D>> readings, final Point2D initialPosition,
final RangingAndRssiRadioSourceEstimatorListener<S, Point2D> listener) {
super(readings, initialPosition, listener);
}
/**
* Constructor.
*
* @param initialTransmittedPowerDbm initial transmitted power to start the
* estimation of radio source transmitted power
* (expressed in dBm's).
*/
public RangingAndRssiRadioSourceEstimator2D(final Double initialTransmittedPowerDbm) {
super(initialTransmittedPowerDbm);
}
/**
* Constructor.
* Sets radio signal readings belonging to the same radio source.
*
* @param readings radio signal readings belonging to the same radio source.
* @param initialTransmittedPowerdBm initial transmitted power to start the
* estimation of radio source transmitted power
* (expressed in dBm's).
* @throws IllegalArgumentException if readings are not valid.
*/
public RangingAndRssiRadioSourceEstimator2D(
final List<? extends RangingAndRssiReadingLocated<S, Point2D>> readings,
final Double initialTransmittedPowerdBm) {
super(readings, initialTransmittedPowerdBm);
}
/**
* Constructor.
*
* @param initialTransmittedPowerdBm initial transmitted power to start the
* estimation of radio source transmitted power
* (expressed in dBm's).
* @param listener listener in charge of attending events raised by this instance.
*/
public RangingAndRssiRadioSourceEstimator2D(
final Double initialTransmittedPowerdBm,
final RangingAndRssiRadioSourceEstimatorListener<S, Point2D> listener) {
super(initialTransmittedPowerdBm, listener);
}
/**
* Constructor.
* Sets radio signal readings belonging to the same radio source.
*
* @param readings radio signal readings belonging to the same radio source.
* @param initialTransmittedPowerdBm initial transmitted power to start the
* estimation of radio source transmitted power
* (expressed in dBm's).
* @param listener listener in charge of attending events raised by this instance.
* @throws IllegalArgumentException if readings are not valid.
*/
public RangingAndRssiRadioSourceEstimator2D(
final List<? extends RangingAndRssiReadingLocated<S, Point2D>> readings,
final Double initialTransmittedPowerdBm,
final RangingAndRssiRadioSourceEstimatorListener<S, Point2D> listener) {
super(readings, initialTransmittedPowerdBm, listener);
}
/**
* Constructor.
* Sets radio signal readings belonging to the same radio source.
*
* @param readings radio signal readings belonging to the same radio source.
* @param initialPosition initial position to start the estimation of radio
* source position.
* @param initialTransmittedPowerdBm initial transmitted power to start the
* estimation of radio source transmitted power
* (expressed in dBm's).
* @throws IllegalArgumentException if readings are not valid.
*/
public RangingAndRssiRadioSourceEstimator2D(
final List<? extends RangingAndRssiReadingLocated<S, Point2D>> readings, final Point2D initialPosition,
final Double initialTransmittedPowerdBm) {
super(readings, initialPosition, initialTransmittedPowerdBm);
}
/**
* Constructor.
*
* @param initialPosition initial position to start the estimation of radio
* source position.
* @param initialTransmittedPowerdBm initial transmitted power to start the
* estimation of radio source transmitted power
* (expressed in dBm's).
*/
public RangingAndRssiRadioSourceEstimator2D(
final Point2D initialPosition, final Double initialTransmittedPowerdBm) {
super(initialPosition, initialTransmittedPowerdBm);
}
/**
* Constructor.
*
* @param initialPosition initial position to start the estimation of radio
* source position.
* @param initialTransmittedPowerdBm initial transmitted power to start the
* estimation of radio source transmitted power
* (expressed in dBm's).
* @param listener listener in charge of attending events raised by this instance.
*/
public RangingAndRssiRadioSourceEstimator2D(
final Point2D initialPosition, final Double initialTransmittedPowerdBm,
final RangingAndRssiRadioSourceEstimatorListener<S, Point2D> listener) {
super(initialPosition, initialTransmittedPowerdBm, listener);
}
/**
* Constructor.
* Sets radio signal readings belonging to the same radio source.
*
* @param readings radio signal readings belonging to the same radio source.
* @param initialPosition initial position to start the estimation of radio
* source position.
* @param initialTransmittedPowerdBm initial transmitted power to start the
* estimation of radio source transmitted power
* (expressed in dBm's).
* @param listener listener in charge of attending events raised by this instance.
* @throws IllegalArgumentException if readings are not valid.
*/
public RangingAndRssiRadioSourceEstimator2D(
final List<? extends RangingAndRssiReadingLocated<S, Point2D>> readings, final Point2D initialPosition,
final Double initialTransmittedPowerdBm,
final RangingAndRssiRadioSourceEstimatorListener<S, Point2D> listener) {
super(readings, initialPosition, initialTransmittedPowerdBm, listener);
}
/**
* Constructor.
* Sets radio signal readings belonging to the same radio source.
*
* @param readings radio signal readings belonging to the same radio source.
* @param initialPosition initial position to start the estimation of radio
* source position.
* @param initialTransmittedPowerdBm initial transmitted power to start the
* estimation of radio source transmitted power
* (expressed in dBm's).
* @param initialPathLossExponent initial path loss exponent. A typical value is 2.0.
* @throws IllegalArgumentException if readings are not valid.
*/
public RangingAndRssiRadioSourceEstimator2D(
final List<? extends RangingAndRssiReadingLocated<S, Point2D>> readings, final Point2D initialPosition,
final Double initialTransmittedPowerdBm, final double initialPathLossExponent) {
super(readings, initialPosition, initialTransmittedPowerdBm, initialPathLossExponent);
}
/**
* Constructor.
*
* @param initialPosition initial position to start the estimation of radio
* source position.
* @param initialTransmittedPowerdBm initial transmitted power to start the
* estimation of radio source transmitted power
* (expressed in dBm's).
* @param initialPathLossExponent initial path loss exponent. A typical value is 2.0.
*/
public RangingAndRssiRadioSourceEstimator2D(
final Point2D initialPosition, final Double initialTransmittedPowerdBm,
final double initialPathLossExponent) {
super(initialPosition, initialTransmittedPowerdBm, initialPathLossExponent);
}
/**
* Constructor.
*
* @param initialPosition initial position to start the estimation of radio
* source position.
* @param initialTransmittedPowerdBm initial transmitted power to start the
* estimation of radio source transmitted power
* (expressed in dBm's).
* @param initialPathLossExponent initial path loss exponent. A typical value is 2.0.
* @param listener listener in charge of attending events raised by this instance.
*/
public RangingAndRssiRadioSourceEstimator2D(
final Point2D initialPosition, final Double initialTransmittedPowerdBm,
final double initialPathLossExponent,
final RangingAndRssiRadioSourceEstimatorListener<S, Point2D> listener) {
super(initialPosition, initialTransmittedPowerdBm, initialPathLossExponent, listener);
}
/**
* Constructor.
* Sets radio signal readings belonging to the same radio source.
*
* @param readings radio signal readings belonging to the same radio source.
* @param initialPosition initial position to start the estimation of radio
* source position.
* @param initialTransmittedPowerdBm initial transmitted power to start the
* estimation of radio source transmitted power
* (expressed in dBm's).
* @param initialPathLossExponent initial path loss exponent. A typical value is 2.0.
* @param listener listener in charge of attending events raised by this instance.
* @throws IllegalArgumentException if readings are not valid.
*/
public RangingAndRssiRadioSourceEstimator2D(
final List<? extends RangingAndRssiReadingLocated<S, Point2D>> readings, final Point2D initialPosition,
final Double initialTransmittedPowerdBm, final double initialPathLossExponent,
final RangingAndRssiRadioSourceEstimatorListener<S, Point2D> listener) {
super(readings, initialPosition, initialTransmittedPowerdBm, initialPathLossExponent, listener);
}
/**
* Gets number of dimensions of position points.
* This is always 2.
*
* @return number of dimensions of position points.
*/
@Override
public int getNumberOfDimensions() {
return Point2D.POINT2D_INHOMOGENEOUS_COORDINATES_LENGTH;
}
/**
* Gets estimated located radio source.
*
* @return estimated located radio source or null.
*/
@Override
@SuppressWarnings("unchecked")
public RadioSourceLocated<Point2D> getEstimatedRadioSource() {
final var readings = getReadings();
if (readings == null || readings.isEmpty()) {
return null;
}
final var source = readings.get(0).getSource();
final var estimatedPosition = getEstimatedPosition();
if (estimatedPosition == null) {
return null;
}
final var estimatedPositionCovariance = getEstimatedPositionCovariance();
final var transmittedPowerdBm = getEstimatedTransmittedPowerdBm();
final var transmittedPowerVariance = getEstimatedTransmittedPowerVariance();
final var transmittedPowerStandardDeviation = transmittedPowerVariance != null
? Math.sqrt(transmittedPowerVariance) : null;
final var pathLossExponent = getEstimatedPathLossExponent();
final var pathLossExponentVariance = getEstimatedPathLossExponentVariance();
final var pathLossExponentStandardDeviation = pathLossExponentVariance != null
? Math.sqrt(pathLossExponentVariance) : null;
if (source instanceof WifiAccessPoint accessPoint) {
return new WifiAccessPointWithPowerAndLocated2D(accessPoint.getBssid(), accessPoint.getFrequency(),
accessPoint.getSsid(), transmittedPowerdBm, transmittedPowerStandardDeviation, pathLossExponent,
pathLossExponentStandardDeviation, estimatedPosition, estimatedPositionCovariance);
} else if (source instanceof Beacon beacon) {
return new BeaconWithPowerAndLocated2D(beacon.getIdentifiers(), beacon.getTransmittedPower(),
beacon.getFrequency(), beacon.getBluetoothAddress(), beacon.getBeaconTypeCode(),
beacon.getManufacturer(), beacon.getServiceUuid(), beacon.getBluetoothName(), pathLossExponent,
transmittedPowerStandardDeviation, pathLossExponentStandardDeviation, estimatedPosition,
estimatedPositionCovariance);
} else {
return null;
}
}
/**
* Creates inner estimators if needed.
*/
@Override
protected void createInnerEstimatorsIfNeeded() {
if (rangingInnerEstimator == null) {
rangingInnerEstimator = new RangingRadioSourceEstimator2D<>();
}
if (rssiInnerEstimator == null && (transmittedPowerEstimationEnabled || pathLossEstimationEnabled)) {
rssiInnerEstimator = new RssiRadioSourceEstimator2D<>();
}
}
}