FHWS/FtmPrologic
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Added moving average

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This commit is contained in:
Markus Bullmann
2019-07-02 10:36:24 +02:00
parent 2c4d0beacc
commit 4415288cda
5 changed files with 263 additions and 181 deletions
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17
code/filter.h
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@@ -318,12 +318,17 @@ public:
particlePos.z = 1.3; // smartphone h<>he
float apDist = particlePos.getDistance(apPos);
auto kalman = kalmanMap->at(wifi.second.getAP().getMAC());
pFtm *= Distribution::Normal<float>::getProbability(ftmDist, std::sqrt(kalman.P(0,0)), apDist);
//pFtm *= Distribution::Normal<float>::getProbability(apDist, 3.5, ftmDist);
//pFtm *= Distribution::Region<float>::getProbability(apDist, 3.5/2, ftmDist);
}
if (Settings::UseKalman)
{
auto kalman = kalmanMap->at(wifi.second.getAP().getMAC());
pFtm *= Distribution::Normal<float>::getProbability(ftmDist, std::sqrt(kalman.P(0,0)), apDist);
}
else
{
pFtm *= Distribution::Normal<float>::getProbability(apDist, 3.5, ftmDist);
//pFtm *= Distribution::Region<float>::getProbability(apDist, 3.5/2, ftmDist);
}
}
}