FHWS/FtmPrologic
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This commit is contained in:
Markus Bullmann
2019-06-11 17:28:33 +02:00
parent c973909580
commit 2aa7d682b3
8 changed files with 95561 additions and 53 deletions
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64
code/Settings.h
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@@ -11,25 +11,6 @@ namespace Settings {
const int numParticles = 5000;
const int numBSParticles = 50;
const MACAddress NUC1("38:de:ad:6d:77:25");
const MACAddress NUC2("38:de:ad:6d:60:ff");
const MACAddress NUC3("1c:1b:b5:ef:a2:9a");
const MACAddress NUC4("1c:1b:b5:ec:d1:82");
struct NUCSettings
{
int ID;
float ftm_offset;
float rssi_pathloss;
};
const std::unordered_map<MACAddress, NUCSettings> NUCS = {
{ NUC1, { 1, 1.25, 3.375 }},
{ NUC2, { 2, 2.00, 3.000 }},
{ NUC3, { 3, 1.75, 3.375 }},
{ NUC4, { 4, 2.75, 2.750 }}
};
namespace IMU {
const float turnSigma = 2.5; // 3.5
const float stepLength = 1.00;
@@ -113,11 +94,26 @@ namespace Settings {
const std::string errorDir = "../measurements/error/";
/** describes one dataset (map, training, parameter-estimation, ...) */
const MACAddress NUC1("38:de:ad:6d:77:25");
const MACAddress NUC2("38:de:ad:6d:60:ff");
const MACAddress NUC3("1c:1b:b5:ef:a2:9a");
const MACAddress NUC4("1c:1b:b5:ec:d1:82");
struct NUCSettings
{
int ID = 0;
Point3 position = { 0,0,0 };
float ftm_offset = 0.0f;
float rssi_pathloss = 0.0f;
float kalman_measStdDev = 0.0f;
};
struct DataSetup {
std::string map;
std::vector<std::string> training;
std::unordered_map<MACAddress, Point3> APs;
int numGTPoints;
std::unordered_map<MACAddress, NUCSettings> NUCs;
std::vector<int> gtPath;
};
/** all configured datasets */
@@ -129,13 +125,29 @@ namespace Settings {
dataDir + "Pixel2/Path0_0605.csv",
},
{
{ NUC1, { 7.5, 18.7, 0.8} }, // NUC 1
{ NUC2, { 8.6, 26.8, 0.8} }, // NUC 2
{ NUC3, {21.6, 19.1, 0.8} }, // NUC 3
{ NUC4, {20.8, 27.1, 0.8} }, // NUC 4
{ NUC1, {1, { 7.5, 18.7, 0.8}, 1.25, 3.375, 6.156} }, // NUC 1
{ NUC2, {2, { 8.6, 26.8, 0.8}, 2.00, 3.000, 5.650} }, // NUC 2
{ NUC3, {3, {21.6, 19.1, 0.8}, 1.75, 3.375, 6.107} }, // NUC 3
{ NUC4, {4, {20.8, 27.1, 0.8}, 2.75, 2.750, 3.985} }, // NUC 4
},
4
{ 0, 1, 2, 3 }
};
const DataSetup Path1 = {
mapDir + "map2_ap_path1.xml",
{
dataDir + "Pixel2/Path1_7208.csv",
},
{
{ NUC1, {1, { 8.1, 18.7, 0.8}, 0, 0, 0} }, // NUC 1
{ NUC2, {2, { 8.4, 27.3, 0.8}, 0, 0, 0} }, // NUC 2
{ NUC3, {3, {21.3, 19.3, 0.8}, 0, 0, 0} }, // NUC 3
{ NUC4, {4, {20.6, 26.8, 0.8}, 0, 0, 0} }, // NUC 4
},
{ 1, 2, 6, 7, 6, 2, 1 }
};
const DataSetup CurrentPath = Path1;
} data;
}