SequentialRobustRangingAndRssiRadioSourceEstimator2D.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.LockedException;
import com.irurueta.navigation.indoor.Beacon;
import com.irurueta.navigation.indoor.BeaconWithPowerAndLocated2D;
import com.irurueta.navigation.indoor.RadioSource;
import com.irurueta.navigation.indoor.RadioSourceWithPowerAndLocated;
import com.irurueta.navigation.indoor.RangingAndRssiReadingLocated;
import com.irurueta.navigation.indoor.WifiAccessPoint;
import com.irurueta.navigation.indoor.WifiAccessPointWithPowerAndLocated2D;
import java.util.List;
/**
* Robustly estimates 2D 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 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.
* <p>
* Implementations of this class sequentially estimate position and then remaining
* parameters. First ranging data is used to robustly estimate position and then
* remaining parameters are robustly estimated using former estimated position as
* an initial guess.
* <p>
* 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>
* Implementations of this class might produce more stable positions of estimated
* radio sources than implementations of RobustRangingAndRssiRadioSourceEstimator2D.
*
* @param <S> a {@link RadioSource} type.
*/
public class SequentialRobustRangingAndRssiRadioSourceEstimator2D<S extends RadioSource> extends
SequentialRobustRangingAndRssiRadioSourceEstimator<S, Point2D> {
/**
* Constructor.
*/
public SequentialRobustRangingAndRssiRadioSourceEstimator2D() {
rangingPreliminarySubsetSize = rssiPreliminarySubsetSize = getMinReadings();
}
/**
* Constructor.
* Sets signal readings belonging to the same radio source.
*
* @param readings signal readings belonging to the same radio source.
* @throws IllegalArgumentException if readings are not valid.
*/
public SequentialRobustRangingAndRssiRadioSourceEstimator2D(
final List<? extends RangingAndRssiReadingLocated<S, Point2D>> readings) {
super(readings);
rangingPreliminarySubsetSize = rssiPreliminarySubsetSize = getMinReadings();
}
/**
* Constructor.
*
* @param listener listener in charge of attending events raised by this instance.
*/
public SequentialRobustRangingAndRssiRadioSourceEstimator2D(
final SequentialRobustRangingAndRssiRadioSourceEstimatorListener<S, Point2D> listener) {
super(listener);
rangingPreliminarySubsetSize = rssiPreliminarySubsetSize = getMinReadings();
}
/**
* Constructor.
* Sets signal readings belonging to the same radio source.
*
* @param readings 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 SequentialRobustRangingAndRssiRadioSourceEstimator2D(
final List<? extends RangingAndRssiReadingLocated<S, Point2D>> readings,
final SequentialRobustRangingAndRssiRadioSourceEstimatorListener<S, Point2D> listener) {
super(readings, listener);
rangingPreliminarySubsetSize = rssiPreliminarySubsetSize = getMinReadings();
}
/**
* Constructor.
* Sets signal readings belonging to the same radio source.
*
* @param readings 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 SequentialRobustRangingAndRssiRadioSourceEstimator2D(
final List<? extends RangingAndRssiReadingLocated<S, Point2D>> readings, final Point2D initialPosition) {
super(readings, initialPosition);
rangingPreliminarySubsetSize = rssiPreliminarySubsetSize = getMinReadings();
}
/**
* Constructor.
*
* @param initialPosition initial position to start the estimation of radio
* source position.
*/
public SequentialRobustRangingAndRssiRadioSourceEstimator2D(final Point2D initialPosition) {
super(initialPosition);
rangingPreliminarySubsetSize = rssiPreliminarySubsetSize = getMinReadings();
}
/**
* 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 SequentialRobustRangingAndRssiRadioSourceEstimator2D(
final Point2D initialPosition,
final SequentialRobustRangingAndRssiRadioSourceEstimatorListener<S, Point2D> listener) {
super(initialPosition, listener);
rangingPreliminarySubsetSize = rssiPreliminarySubsetSize = getMinReadings();
}
/**
* Constructor.
* Sets signal readings belonging to the same radio source.
*
* @param readings 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 SequentialRobustRangingAndRssiRadioSourceEstimator2D(
final List<? extends RangingAndRssiReadingLocated<S, Point2D>> readings, final Point2D initialPosition,
final SequentialRobustRangingAndRssiRadioSourceEstimatorListener<S, Point2D> listener) {
super(readings, initialPosition, listener);
rangingPreliminarySubsetSize = rssiPreliminarySubsetSize = getMinReadings();
}
/**
* Constructor.
*
* @param initialTransmittedPowerdBm initial transmitted power to start the
* estimation of radio source transmitted power
* (expressed in dBm's).
*/
public SequentialRobustRangingAndRssiRadioSourceEstimator2D(final Double initialTransmittedPowerdBm) {
super(initialTransmittedPowerdBm);
rangingPreliminarySubsetSize = rssiPreliminarySubsetSize = getMinReadings();
}
/**
* Constructor.
* Sets signal readings belonging to the same radio source.
*
* @param readings 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 SequentialRobustRangingAndRssiRadioSourceEstimator2D(
final List<? extends RangingAndRssiReadingLocated<S, Point2D>> readings,
final Double initialTransmittedPowerdBm) {
super(readings, initialTransmittedPowerdBm);
rangingPreliminarySubsetSize = rssiPreliminarySubsetSize = getMinReadings();
}
/**
* 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 SequentialRobustRangingAndRssiRadioSourceEstimator2D(
final Double initialTransmittedPowerdBm,
final SequentialRobustRangingAndRssiRadioSourceEstimatorListener<S, Point2D> listener) {
super(initialTransmittedPowerdBm, listener);
rangingPreliminarySubsetSize = rssiPreliminarySubsetSize = getMinReadings();
}
/**
* Constructor.
* Sets signal readings belonging to the same radio source.
*
* @param readings 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 SequentialRobustRangingAndRssiRadioSourceEstimator2D(
final List<? extends RangingAndRssiReadingLocated<S, Point2D>> readings,
final Double initialTransmittedPowerdBm,
final SequentialRobustRangingAndRssiRadioSourceEstimatorListener<S, Point2D> listener) {
super(readings, initialTransmittedPowerdBm, listener);
rangingPreliminarySubsetSize = rssiPreliminarySubsetSize = getMinReadings();
}
/**
* Constructor.
* Sets signal readings belonging to the same radio source.
*
* @param readings 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 SequentialRobustRangingAndRssiRadioSourceEstimator2D(
final List<? extends RangingAndRssiReadingLocated<S, Point2D>> readings, final Point2D initialPosition,
final Double initialTransmittedPowerdBm) {
super(readings, initialPosition, initialTransmittedPowerdBm);
rangingPreliminarySubsetSize = rssiPreliminarySubsetSize = getMinReadings();
}
/**
* 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 SequentialRobustRangingAndRssiRadioSourceEstimator2D(
final Point2D initialPosition, final Double initialTransmittedPowerdBm) {
super(initialPosition, initialTransmittedPowerdBm);
rangingPreliminarySubsetSize = rssiPreliminarySubsetSize = getMinReadings();
}
/**
* 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 in charge of attending events raised by this instance.
*/
public SequentialRobustRangingAndRssiRadioSourceEstimator2D(
final Point2D initialPosition, final Double initialTransmittedPowerdBm,
final SequentialRobustRangingAndRssiRadioSourceEstimatorListener<S, Point2D> listener) {
super(initialPosition, initialTransmittedPowerdBm, listener);
rangingPreliminarySubsetSize = rssiPreliminarySubsetSize = getMinReadings();
}
/**
* Constructor.
* Sets signal readings belonging to the same radio source.
*
* @param readings 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 SequentialRobustRangingAndRssiRadioSourceEstimator2D(
final List<? extends RangingAndRssiReadingLocated<S, Point2D>> readings, final Point2D initialPosition,
final Double initialTransmittedPowerdBm,
final SequentialRobustRangingAndRssiRadioSourceEstimatorListener<S, Point2D> listener) {
super(readings, initialPosition, initialTransmittedPowerdBm, listener);
rangingPreliminarySubsetSize = rssiPreliminarySubsetSize = getMinReadings();
}
/**
* Constructor.
* Sets signal readings belonging to the same radio source.
*
* @param readings 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 SequentialRobustRangingAndRssiRadioSourceEstimator2D(
final List<? extends RangingAndRssiReadingLocated<S, Point2D>> readings, final Point2D initialPosition,
final Double initialTransmittedPowerdBm, final double initialPathLossExponent) {
super(readings, initialPosition, initialTransmittedPowerdBm, initialPathLossExponent);
rangingPreliminarySubsetSize = rssiPreliminarySubsetSize = getMinReadings();
}
/**
* 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 SequentialRobustRangingAndRssiRadioSourceEstimator2D(
final Point2D initialPosition, final Double initialTransmittedPowerdBm,
final double initialPathLossExponent) {
super(initialPosition, initialTransmittedPowerdBm, initialPathLossExponent);
rangingPreliminarySubsetSize = rssiPreliminarySubsetSize = getMinReadings();
}
/**
* 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 SequentialRobustRangingAndRssiRadioSourceEstimator2D(
final Point2D initialPosition, final Double initialTransmittedPowerdBm,
final double initialPathLossExponent,
final SequentialRobustRangingAndRssiRadioSourceEstimatorListener<S, Point2D> listener) {
super(initialPosition, initialTransmittedPowerdBm, initialPathLossExponent, listener);
rangingPreliminarySubsetSize = rssiPreliminarySubsetSize = getMinReadings();
}
/**
* Constructors.
* Sets signal readings belonging to the same radio source.
*
* @param readings 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 SequentialRobustRangingAndRssiRadioSourceEstimator2D(
final List<? extends RangingAndRssiReadingLocated<S, Point2D>> readings, final Point2D initialPosition,
final Double initialTransmittedPowerdBm, final double initialPathLossExponent,
final SequentialRobustRangingAndRssiRadioSourceEstimatorListener<S, Point2D> listener) {
super(readings, initialPosition, initialTransmittedPowerdBm, initialPathLossExponent, listener);
rangingPreliminarySubsetSize = rssiPreliminarySubsetSize = getMinReadings();
}
/**
* Constructor.
*
* @param qualityScores quality scores corresponding to each provided sample.
* The larger the score value the better the quality of
* the sample.
* @throws IllegalArgumentException if quality scores is null, or length of
* quality scores is less than required minimum.
*/
public SequentialRobustRangingAndRssiRadioSourceEstimator2D(final double[] qualityScores) {
super(qualityScores);
rangingPreliminarySubsetSize = rssiPreliminarySubsetSize = getMinReadings();
}
/**
* Constructor.
* Sets signal readings belonging to the same radio source.
*
* @param qualityScores quality scores corresponding to each provided sample.
* The larger the score value the better the quality of
* the sample.
* @param readings signal readings belonging to the same radio source.
* @throws IllegalArgumentException if readings are not valid, quality scores is
* null, or length of quality scores is less than required minimum.
*/
public SequentialRobustRangingAndRssiRadioSourceEstimator2D(
final double[] qualityScores, final List<? extends RangingAndRssiReadingLocated<S, Point2D>> readings) {
super(qualityScores, readings);
rangingPreliminarySubsetSize = rssiPreliminarySubsetSize = getMinReadings();
}
/**
* Constructor.
*
* @param qualityScores quality scores corresponding to each provided sample.
* The larger the score value the better the quality of
* the sample.
* @param listener listener in charge of attending events raised by this instance.
* @throws IllegalArgumentException if quality scores is null, or length
* of quality scores is less than required minimum.
*/
public SequentialRobustRangingAndRssiRadioSourceEstimator2D(
final double[] qualityScores,
final SequentialRobustRangingAndRssiRadioSourceEstimatorListener<S, Point2D> listener) {
super(qualityScores, listener);
rangingPreliminarySubsetSize = rssiPreliminarySubsetSize = getMinReadings();
}
/**
* Constructor.
* Sets signal readings belonging to the same radio source.
*
* @param qualityScores quality scores corresponding to each provided sample.
* The larger the score value the better the quality of
* the sample.
* @param readings 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, quality scores is
* null, or length of quality scores is less than required minimum.
*/
public SequentialRobustRangingAndRssiRadioSourceEstimator2D(
final double[] qualityScores, final List<? extends RangingAndRssiReadingLocated<S, Point2D>> readings,
final SequentialRobustRangingAndRssiRadioSourceEstimatorListener<S, Point2D> listener) {
super(qualityScores, readings, listener);
rangingPreliminarySubsetSize = rssiPreliminarySubsetSize = getMinReadings();
}
/**
* Constructor.
* Sets signal readings belonging to the same radio source.
*
* @param qualityScores quality scores corresponding to each provided sample.
* The larger the score value the better the quality of
* the sample.
* @param readings 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, quality scores is
* null, or length of quality scores is less than required minimum.
*/
public SequentialRobustRangingAndRssiRadioSourceEstimator2D(
final double[] qualityScores, final List<? extends RangingAndRssiReadingLocated<S, Point2D>> readings,
final Point2D initialPosition) {
super(qualityScores, readings, initialPosition);
rangingPreliminarySubsetSize = rssiPreliminarySubsetSize = getMinReadings();
}
/**
* Constructor.
*
* @param qualityScores quality scores corresponding to each provided sample.
* The larger the score value the better the quality of
* the sample.
* @param initialPosition initial position to start the estimation of radio
* source position.
* @throws IllegalArgumentException if quality scores is null, or length
* of quality scores is less than required minimum.
*/
public SequentialRobustRangingAndRssiRadioSourceEstimator2D(
final double[] qualityScores, final Point2D initialPosition) {
super(qualityScores, initialPosition);
rangingPreliminarySubsetSize = rssiPreliminarySubsetSize = getMinReadings();
}
/**
* Constructor.
*
* @param qualityScores quality scores corresponding to each provided sample.
* The larger the score value the better the quality of
* the sample.
* @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 quality scores is null, or length
* of quality scores is less than required minimum.
*/
public SequentialRobustRangingAndRssiRadioSourceEstimator2D(
final double[] qualityScores, final Point2D initialPosition,
final SequentialRobustRangingAndRssiRadioSourceEstimatorListener<S, Point2D> listener) {
super(qualityScores, initialPosition, listener);
rangingPreliminarySubsetSize = rssiPreliminarySubsetSize = getMinReadings();
}
/**
* Constructor.
* Sets signal readings belonging to the same radio source.
*
* @param qualityScores quality scores corresponding to each provided sample.
* The larger the score value the better the quality of
* the sample.
* @param readings 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, quality scores
* is null, or length of quality scores is less than required minimum.
*/
public SequentialRobustRangingAndRssiRadioSourceEstimator2D(
final double[] qualityScores, final List<? extends RangingAndRssiReadingLocated<S, Point2D>> readings,
final Point2D initialPosition,
final SequentialRobustRangingAndRssiRadioSourceEstimatorListener<S, Point2D> listener) {
super(qualityScores, readings, initialPosition, listener);
rangingPreliminarySubsetSize = rssiPreliminarySubsetSize = getMinReadings();
}
/**
* Constructor.
*
* @param qualityScores quality scores corresponding to each provided sample.
* The larger the score value the better the quality of
* the sample.
* @param initialTransmittedPowerdBm initial transmitted power to start the
* estimation of radio source transmitted power
* (expressed in dBm's).
* @throws IllegalArgumentException if quality scores is null, or length
* of quality scores is less than required minimum.
*/
public SequentialRobustRangingAndRssiRadioSourceEstimator2D(
final double[] qualityScores, final Double initialTransmittedPowerdBm) {
super(qualityScores, initialTransmittedPowerdBm);
rangingPreliminarySubsetSize = rssiPreliminarySubsetSize = getMinReadings();
}
/**
* Constructor.
* Sets signal readings belonging to the same radio source.
*
* @param qualityScores quality scores corresponding to each provided sample.
* The larger the score value the better the quality of
* the sample.
* @param readings 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, quality scores
* is null, or length of quality scores is less than required minimum.
*/
public SequentialRobustRangingAndRssiRadioSourceEstimator2D(
final double[] qualityScores, final List<? extends RangingAndRssiReadingLocated<S, Point2D>> readings,
final Double initialTransmittedPowerdBm) {
super(qualityScores, readings, initialTransmittedPowerdBm);
rangingPreliminarySubsetSize = rssiPreliminarySubsetSize = getMinReadings();
}
/**
* Constructor.
*
* @param qualityScores quality scores corresponding to each provided sample.
* The larger the score value the better the quality of
* the sample.
* @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 quality scores is null, or length
* of quality scores is less than required minimum.
*/
public SequentialRobustRangingAndRssiRadioSourceEstimator2D(
final double[] qualityScores, final Double initialTransmittedPowerdBm,
final SequentialRobustRangingAndRssiRadioSourceEstimatorListener<S, Point2D> listener) {
super(qualityScores, initialTransmittedPowerdBm, listener);
rangingPreliminarySubsetSize = rssiPreliminarySubsetSize = getMinReadings();
}
/**
* Constructor.
* Sets signal readings belonging to the same radio source.
*
* @param qualityScores quality scores corresponding to each provided
* sample. The larger the score value the better
* the quality of the sample.
* @param readings 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, quality scores
* is null, or length of quality scores is less than required minimum.
*/
public SequentialRobustRangingAndRssiRadioSourceEstimator2D(
final double[] qualityScores, final List<? extends RangingAndRssiReadingLocated<S, Point2D>> readings,
final Double initialTransmittedPowerdBm,
final SequentialRobustRangingAndRssiRadioSourceEstimatorListener<S, Point2D> listener) {
super(qualityScores, readings, initialTransmittedPowerdBm, listener);
rangingPreliminarySubsetSize = rssiPreliminarySubsetSize = getMinReadings();
}
/**
* Constructor.
* Sets signal readings belonging to the same radio source.
*
* @param qualityScores quality scores corresponding to each provided
* sample. The larger the score value the better
* the quality of the sample.
* @param readings 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, quality scores
* is null, or length of quality scores is less than required minimum.
*/
public SequentialRobustRangingAndRssiRadioSourceEstimator2D(
final double[] qualityScores, final List<? extends RangingAndRssiReadingLocated<S, Point2D>> readings,
final Point2D initialPosition, final Double initialTransmittedPowerdBm) {
super(qualityScores, readings, initialPosition, initialTransmittedPowerdBm);
rangingPreliminarySubsetSize = rssiPreliminarySubsetSize = getMinReadings();
}
/**
* Constructor.
*
* @param qualityScores quality scores corresponding to each provided
* sample. The larger the score value the better
* the quality of the sample.
* @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 quality scores is null, or length
* of quality scores is less than required minimum.
*/
public SequentialRobustRangingAndRssiRadioSourceEstimator2D(
final double[] qualityScores, final Point2D initialPosition, final Double initialTransmittedPowerdBm) {
super(qualityScores, initialPosition, initialTransmittedPowerdBm);
rangingPreliminarySubsetSize = rssiPreliminarySubsetSize = getMinReadings();
}
/**
* Constructor.
*
* @param qualityScores quality scores corresponding to each provided
* sample. The larger the score value the better
* the quality of the sample.
* @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 in charge of attending events raised by this instance.
* @throws IllegalArgumentException if quality scores is null, or length
* of quality scores is less than required minimum.
*/
public SequentialRobustRangingAndRssiRadioSourceEstimator2D(
final double[] qualityScores, final Point2D initialPosition, final Double initialTransmittedPowerdBm,
final SequentialRobustRangingAndRssiRadioSourceEstimatorListener<S, Point2D> listener) {
super(qualityScores, initialPosition, initialTransmittedPowerdBm, listener);
rangingPreliminarySubsetSize = rssiPreliminarySubsetSize = getMinReadings();
}
/**
* Constructor.
* Sets signal readings belonging to the same radio source.
*
* @param qualityScores quality scores corresponding to each provided
* sample. The larger the score value the better
* the quality of the sample.
* @param readings 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, quality scores
* is null, or length of quality scores is less than required minimum.
*/
public SequentialRobustRangingAndRssiRadioSourceEstimator2D(
final double[] qualityScores, final List<? extends RangingAndRssiReadingLocated<S, Point2D>> readings,
final Point2D initialPosition, final Double initialTransmittedPowerdBm,
final SequentialRobustRangingAndRssiRadioSourceEstimatorListener<S, Point2D> listener) {
super(qualityScores, readings, initialPosition, initialTransmittedPowerdBm, listener);
rangingPreliminarySubsetSize = rssiPreliminarySubsetSize = getMinReadings();
}
/**
* Constructor.
* Sets signal readings belonging to the same radio source.
*
* @param qualityScores quality scores corresponding to each provided
* sample. The larger the score value the better
* the quality of the sample.
* @param readings 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, quality scores
* is null, or length of quality scores is less than required minimum.
*/
public SequentialRobustRangingAndRssiRadioSourceEstimator2D(
final double[] qualityScores, final List<? extends RangingAndRssiReadingLocated<S, Point2D>> readings,
final Point2D initialPosition, final Double initialTransmittedPowerdBm,
final double initialPathLossExponent) {
super(qualityScores, readings, initialPosition, initialTransmittedPowerdBm, initialPathLossExponent);
rangingPreliminarySubsetSize = rssiPreliminarySubsetSize = getMinReadings();
}
/**
* Constructor.
*
* @param qualityScores quality scores corresponding to each provided
* sample. The larger the score value the better
* the quality of the sample.
* @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 quality scores is null, or length
* of quality scores is less than required minimum.
*/
public SequentialRobustRangingAndRssiRadioSourceEstimator2D(
final double[] qualityScores, final Point2D initialPosition, final Double initialTransmittedPowerdBm,
final double initialPathLossExponent) {
super(qualityScores, initialPosition, initialTransmittedPowerdBm, initialPathLossExponent);
rangingPreliminarySubsetSize = rssiPreliminarySubsetSize = getMinReadings();
}
/**
* Constructor.
*
* @param qualityScores quality scores corresponding to each provided
* sample. The larger the score value the better
* the quality of the sample.
* @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 quality scores is null, or length
* of quality scores is less than required minimum.
*/
public SequentialRobustRangingAndRssiRadioSourceEstimator2D(
final double[] qualityScores, final Point2D initialPosition, final Double initialTransmittedPowerdBm,
final double initialPathLossExponent,
final SequentialRobustRangingAndRssiRadioSourceEstimatorListener<S, Point2D> listener) {
super(qualityScores, initialPosition, initialTransmittedPowerdBm, initialPathLossExponent, listener);
rangingPreliminarySubsetSize = rssiPreliminarySubsetSize = getMinReadings();
}
/**
* Constructors.
* Sets signal readings belonging to the same radio source.
*
* @param qualityScores quality scores corresponding to each provided
* sample. The larger the score value the better
* the quality of the sample.
* @param readings 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, quality scores
* is null, or length of quality scores is less than required minimum.
*/
public SequentialRobustRangingAndRssiRadioSourceEstimator2D(
final double[] qualityScores, final List<? extends RangingAndRssiReadingLocated<S, Point2D>> readings,
final Point2D initialPosition, final Double initialTransmittedPowerdBm,
final double initialPathLossExponent,
final SequentialRobustRangingAndRssiRadioSourceEstimatorListener<S, Point2D> listener) {
super(qualityScores, readings, initialPosition, initialTransmittedPowerdBm, initialPathLossExponent, listener);
rangingPreliminarySubsetSize = rssiPreliminarySubsetSize = 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 3
* readings.
*
* @return minimum required number of readings.
*/
@Override
public int getMinReadings() {
var minReadings = Point2D.POINT2D_INHOMOGENEOUS_COORDINATES_LENGTH;
if (isTransmittedPowerEstimationEnabled()) {
minReadings++;
}
if (isPathLossEstimationEnabled()) {
minReadings++;
}
return ++minReadings;
}
/**
* Gets number of dimensions of position points.
*
* @return always returns 2 dimensions.
*/
@Override
public int getNumberOfDimensions() {
return Point2D.POINT2D_INHOMOGENEOUS_COORDINATES_LENGTH;
}
/**
* Gets estimated located radio source with estimated transmitted power.
*
* @return estimated located radio source with estimated transmitted power or null.
*/
@Override
@SuppressWarnings({"unchecked", "DuplicatedCode"})
public RadioSourceWithPowerAndLocated<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 transmittedPowerVariance = getEstimatedTransmittedPowerVariance();
final var transmittedPowerStandardDeviation = transmittedPowerVariance != null
? Math.sqrt(transmittedPowerVariance) : null;
final var pathlossExponentVariance = getEstimatedPathLossExponentVariance();
final var pathlossExponentStandardDeviation = pathlossExponentVariance != null
? Math.sqrt(pathlossExponentVariance) : null;
if (source instanceof WifiAccessPoint accessPoint) {
return new WifiAccessPointWithPowerAndLocated2D(accessPoint.getBssid(), source.getFrequency(),
accessPoint.getSsid(), getEstimatedTransmittedPowerdBm(), transmittedPowerStandardDeviation,
getEstimatedPathLossExponent(), pathlossExponentStandardDeviation, estimatedPosition,
estimatedPositionCovariance);
} else if (source instanceof Beacon beacon) {
return new BeaconWithPowerAndLocated2D(beacon.getIdentifiers(), getEstimatedTransmittedPowerdBm(),
beacon.getFrequency(), beacon.getBluetoothAddress(), beacon.getBeaconTypeCode(),
beacon.getManufacturer(), beacon.getServiceUuid(), beacon.getBluetoothName(),
getEstimatedPathLossExponent(), transmittedPowerStandardDeviation,
pathlossExponentStandardDeviation, estimatedPosition, estimatedPositionCovariance);
} else {
return null;
}
}
/**
* Builds ranging estimator.
*/
@Override
protected void buildRangingEstimatorIfNeeded() {
if (rangingEstimator == null || rangingEstimator.getMethod() != rangingRobustMethod) {
rangingEstimator = RobustRangingRadioSourceEstimator2D.create(rangingRobustMethod);
}
}
/**
* build RSSI estimator.
*
* @throws LockedException if estimator is locked.
*/
@Override
protected void buildRssiEstimatorIfNeeded() throws LockedException {
if (rssiEstimator == null || rssiEstimator.getMethod() != rssiRobustMethod) {
rssiEstimator = RobustRssiRadioSourceEstimator2D.create(rssiRobustMethod);
//rssi estimator will never need position estimator, but to
//ensure it is ready we need to provide an initial position
rssiEstimator.setPositionEstimationEnabled(false);
rssiEstimator.setInitialPosition(Point2D.create());
}
}
/**
* Setups ranging estimator.
*
* @throws LockedException if estimator is locked.
*/
@Override
protected void setupRangingEstimator() throws LockedException {
super.setupRangingEstimator();
switch (rangingRobustMethod) {
case RANSAC:
((RANSACRobustRangingRadioSourceEstimator2D<S>) rangingEstimator).setThreshold(
rangingThreshold != null ? rangingThreshold
: RANSACRobustRangingRadioSourceEstimator2D.DEFAULT_THRESHOLD);
break;
case LMEDS:
((LMedSRobustRangingRadioSourceEstimator2D<S>) rangingEstimator).setStopThreshold(
rangingThreshold != null ? rangingThreshold
: LMedSRobustRangingRadioSourceEstimator2D.DEFAULT_STOP_THRESHOLD);
break;
case MSAC:
((MSACRobustRangingRadioSourceEstimator2D<S>) rangingEstimator).setThreshold(
rangingThreshold != null ? rangingThreshold
: MSACRobustRangingRadioSourceEstimator2D.DEFAULT_THRESHOLD);
break;
case PROSAC:
((PROSACRobustRangingRadioSourceEstimator2D<S>) rangingEstimator).setThreshold(
rangingThreshold != null ? rangingThreshold
: PROSACRobustRangingRadioSourceEstimator2D.DEFAULT_THRESHOLD);
break;
case PROMEDS:
((PROMedSRobustRangingRadioSourceEstimator2D<S>) rangingEstimator).setStopThreshold(
rangingThreshold != null ? rangingThreshold
: PROMedSRobustRangingRadioSourceEstimator2D.DEFAULT_STOP_THRESHOLD);
break;
default:
break;
}
}
/**
* Setups RSSI estimator.
*
* @throws LockedException if estimator is locked.
*/
@Override
protected void setupRssiEstimator() throws LockedException {
super.setupRssiEstimator();
switch (rssiRobustMethod) {
case RANSAC:
((RANSACRobustRssiRadioSourceEstimator2D<S>) rssiEstimator).setThreshold(
rssiThreshold != null ? rssiThreshold
: RANSACRobustRssiRadioSourceEstimator2D.DEFAULT_THRESHOLD);
break;
case LMEDS:
((LMedSRobustRssiRadioSourceEstimator2D<S>) rssiEstimator).setStopThreshold(
rssiThreshold != null ? rssiThreshold
: LMedSRobustRssiRadioSourceEstimator2D.DEFAULT_STOP_THRESHOLD);
break;
case MSAC:
((MSACRobustRssiRadioSourceEstimator2D<S>) rssiEstimator).setThreshold(
rssiThreshold != null ? rssiThreshold : MSACRobustRssiRadioSourceEstimator2D.DEFAULT_THRESHOLD);
break;
case PROSAC:
((PROSACRobustRssiRadioSourceEstimator2D<S>) rssiEstimator).setThreshold(
rssiThreshold != null ? rssiThreshold
: PROSACRobustRssiRadioSourceEstimator2D.DEFAULT_THRESHOLD);
break;
case PROMEDS:
((PROMedSRobustRssiRadioSourceEstimator2D<S>) rssiEstimator).setStopThreshold(
rssiThreshold != null ? rssiThreshold
: PROMedSRobustRssiRadioSourceEstimator2D.DEFAULT_STOP_THRESHOLD);
break;
default:
break;
}
}
}