1 /*
2 * Copyright (C) 2019 Alberto Irurueta Carro (alberto@irurueta.com)
3 *
4 * Licensed under the Apache License, Version 2.0 (the "License");
5 * you may not use this file except in compliance with the License.
6 * You may obtain a copy of the License at
7 *
8 * http://www.apache.org/licenses/LICENSE-2.0
9 *
10 * Unless required by applicable law or agreed to in writing, software
11 * distributed under the License is distributed on an "AS IS" BASIS,
12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 * See the License for the specific language governing permissions and
14 * limitations under the License.
15 */
16 package com.irurueta.navigation.indoor.position;
17
18 import com.irurueta.geometry.Point3D;
19 import com.irurueta.navigation.LockedException;
20 import com.irurueta.navigation.indoor.RadioSource;
21 import com.irurueta.navigation.indoor.RadioSourceLocated;
22 import com.irurueta.navigation.indoor.RangingAndRssiFingerprint;
23 import com.irurueta.navigation.indoor.RangingAndRssiReading;
24 import com.irurueta.navigation.lateration.MSACRobustLateration3DSolver;
25 import com.irurueta.numerical.robust.RobustEstimatorMethod;
26
27 import java.util.List;
28
29 /**
30 * Robustly estimates 3D position using located radio sources and their
31 * ranging+RSSI readings at unknown locations and using MSAC algorithm to discard
32 * outliers.
33 * This kind of estimator can be used to robustly determine the 3D position of a given
34 * device by getting ranging+RSSI readings at an unknown location of different radio
35 * sources whose 3D locations are known.
36 */
37 public class MSACRobustRangingAndRssiPositionEstimator3D extends RobustRangingAndRssiPositionEstimator3D {
38
39 /**
40 * Constructor.
41 */
42 public MSACRobustRangingAndRssiPositionEstimator3D() {
43 super();
44 init();
45 }
46
47 /**
48 * Constructor.
49 *
50 * @param sources located radio sources used for lateration.
51 * @throws IllegalArgumentException if provided sources is null or the number of
52 * provided sources is less than the required minimum.
53 */
54 public MSACRobustRangingAndRssiPositionEstimator3D(final List<? extends RadioSourceLocated<Point3D>> sources) {
55 super();
56 init();
57 internalSetSources(sources);
58 }
59
60 /**
61 * Constructor.
62 *
63 * @param fingerprint fingerprint containing ranging+RSSI readings at an unknown
64 * location for provided located radio sources.
65 * @throws IllegalArgumentException if provided fingerprint is null.
66 */
67 public MSACRobustRangingAndRssiPositionEstimator3D(
68 final RangingAndRssiFingerprint<? extends RadioSource, ? extends RangingAndRssiReading<?
69 extends RadioSource>> fingerprint) {
70 super();
71 init();
72 internalSetFingerprint(fingerprint);
73 }
74
75 /**
76 * Constructor
77 *
78 * @param sources located radio sources used for lateration.
79 * @param fingerprint fingerprint containing ranging+RSSI readings at an unknown
80 * location for provided located radio sources.
81 * @throws IllegalArgumentException if either provided sources or fingerprint is null
82 * or the number of provided sources is less than the required minimum.
83 */
84 public MSACRobustRangingAndRssiPositionEstimator3D(
85 final List<? extends RadioSourceLocated<Point3D>> sources,
86 final RangingAndRssiFingerprint<? extends RadioSource, ? extends RangingAndRssiReading<?
87 extends RadioSource>> fingerprint) {
88 super();
89 init();
90 internalSetSources(sources);
91 internalSetFingerprint(fingerprint);
92 }
93
94 /**
95 * Constructor.
96 *
97 * @param listener listener in charge of handling events.
98 */
99 public MSACRobustRangingAndRssiPositionEstimator3D(
100 final RobustRangingAndRssiPositionEstimatorListener<Point3D> listener) {
101 super(listener);
102 init();
103 }
104
105 /**
106 * Constructor.
107 *
108 * @param sources located radio sources used for lateration.
109 * @param listener listener in charge of handling events.
110 * @throws IllegalArgumentException if provided sources is null or the number of
111 * provided sources is less than the required minimum.
112 */
113 public MSACRobustRangingAndRssiPositionEstimator3D(
114 final List<? extends RadioSourceLocated<Point3D>> sources,
115 final RobustRangingAndRssiPositionEstimatorListener<Point3D> listener) {
116 super(listener);
117 init();
118 internalSetSources(sources);
119 }
120
121 /**
122 * Constructor.
123 *
124 * @param fingerprint fingerprint containing ranging+RSSI readings at an unknown
125 * location for provided location radio sources.
126 * @param listener listener in charge of handling events.
127 * @throws IllegalArgumentException if provided fingerprint is null.
128 */
129 public MSACRobustRangingAndRssiPositionEstimator3D(
130 final RangingAndRssiFingerprint<? extends RadioSource, ? extends RangingAndRssiReading<?
131 extends RadioSource>> fingerprint,
132 final RobustRangingAndRssiPositionEstimatorListener<Point3D> listener) {
133 super(listener);
134 init();
135 internalSetFingerprint(fingerprint);
136 }
137
138 /**
139 * Constructor.
140 *
141 * @param sources located radio sources used for lateration.
142 * @param fingerprint fingerprint containing ranging+RSSI readings at an unknown
143 * location for provided located radio sources.
144 * @param listener listener in charge of handling events.
145 */
146 public MSACRobustRangingAndRssiPositionEstimator3D(
147 final List<? extends RadioSourceLocated<Point3D>> sources,
148 final RangingAndRssiFingerprint<? extends RadioSource, ? extends RangingAndRssiReading<?
149 extends RadioSource>> fingerprint,
150 final RobustRangingAndRssiPositionEstimatorListener<Point3D> listener) {
151 super(listener);
152 init();
153 internalSetSources(sources);
154 internalSetFingerprint(fingerprint);
155 }
156
157 /**
158 * Gets threshold to determine whether samples are inliers or not when testing possible solutions.
159 * The threshold refers to the amount of error on distance between estimated position and distances
160 * provided for each sample.
161 *
162 * @return threshold to determine whether samples are inliers or not.
163 */
164 public double getThreshold() {
165 return ((MSACRobustLateration3DSolver) laterationSolver).getThreshold();
166 }
167
168 /**
169 * Sets threshold to determine whether samples are inliers or not when testing possible solutions.
170 * The threshold refers to the amount of error on distance between estimated position and distances
171 * provided for each sample.
172 *
173 * @param threshold threshold to determine whether samples are inliers or not.
174 * @throws IllegalArgumentException if provided value is equal or less than zero.
175 * @throws LockedException if this solver is locked.
176 */
177 public void setThreshold(final double threshold) throws LockedException {
178 ((MSACRobustLateration3DSolver) laterationSolver).setThreshold(threshold);
179 }
180
181 /**
182 * Returns method being used for robust estimation.
183 *
184 * @return method being used for robust estimation.
185 */
186 @Override
187 public RobustEstimatorMethod getMethod() {
188 return RobustEstimatorMethod.MSAC;
189 }
190
191 /**
192 * Initializes robust lateration solver.
193 */
194 private void init() {
195 laterationSolver = new MSACRobustLateration3DSolver(trilaterationSolverListener);
196 }
197 }