FHWS/FtmPrologic
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Current best parameters

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This commit is contained in:
Markus Bullmann
2019-11-16 13:45:06 +01:00
parent 9700f88449
commit fb663c260f
3 changed files with 41 additions and 15 deletions
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6
code/Eval.cpp
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@@ -39,9 +39,9 @@ double ftmEval(SensorMode UseSensor, const Timestamp& currentTime, const Point3&
if (ftmDist > 0) if (ftmDist > 0)
{ {
//double sigma = wifi.getFtmDistStd()*wifi.getFtmDistStd(); // 3.5; // TODO //double sigma = wifi.getFtmDistStd()*wifi.getFtmDistStd(); // 3.5; // TODO
double sigma = 3; double sigma = 8;
if (false && ftmKalmanFilters != nullptr) if (ftmKalmanFilters != nullptr)
{ {
Kalman& kalman = ftmKalmanFilters->at(mac); Kalman& kalman = ftmKalmanFilters->at(mac);
ftmDist = kalman.predictAndUpdate(currentTime, ftmDist); ftmDist = kalman.predictAndUpdate(currentTime, ftmDist);
@@ -66,7 +66,7 @@ double ftmEval(SensorMode UseSensor, const Timestamp& currentTime, const Point3&
else else
{ {
// RSSI // RSSI
double sigma = 5; double sigma = 8;
double x = Distribution::Normal<double>::getProbability(rssiDist, sigma, apDist); double x = Distribution::Normal<double>::getProbability(rssiDist, sigma, apDist);
result *= x; result *= x;

48
code/Settings.h
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@@ -12,7 +12,7 @@ namespace Settings {
const std::string plotDataDir = "../plots/data/"; const std::string plotDataDir = "../plots/data/";
const std::string outputDir = "../output/"; const std::string outputDir = "../output/";
const bool UseKalman = true; const bool UseKalman = false;
/** describes one dataset (map, training, parameter-estimation, ...) */ /** describes one dataset (map, training, parameter-estimation, ...) */
@@ -328,18 +328,44 @@ namespace Settings {
"path11", "path11",
mapDir + "shl_nuc_2.xml", mapDir + "shl_nuc_2.xml",
{ {
dataDir + "Pixel2/path11/1688129692555.csv", //dataDir + "Pixel2/path11/1688129692555.csv",
dataDir + "Pixel2/path11/1841800940572.csv", //dataDir + "Pixel2/path11/1841800940572.csv",
dataDir + "Pixel3/path11/3833358280134.csv", //dataDir + "Pixel3/path11/3833358280134.csv",
dataDir + "Pixel3/path11/3997838116311.csv", //dataDir + "Pixel3/path11/3997838116311.csv",
dataDir + "Pixel3/path11/5137884187509.csv",
//dataDir + "Pixel3/path11/6613042236545.csv", NUC 6 im Gang
//dataDir + "Pixel3/path11/11657691328657.csv", // NUC 6 im 3OG
}, },
{ {
// NUC, ID Pos X Y Z offset loss kalman stddev // NUC, ID Pos X Y Z offset loss kalman stddev
{ NUC1, {1, { 7, 6, 0.8}, 0.00, 2.500, 3.0f} }, // NUC 1 I.2.14 //{ NUC1, {1, { 7, 6, 0.8}, 0.00, 2.500, 3.0f} }, // NUC 1 I.2.14
{ NUC5, {5, { 54, 46, 0.8}, 0.00, 2.500, 3.0f} }, // NUC 5 I.2.37 //{ NUC5, {5, { 54, 46, 0.8}, 0.00, 2.500, 3.0f} }, // NUC 5 I.2.37
{ NUC6, {6, { 46, 37, 0.8}, 0.00, 2.500, 3.0f} }, // NUC 6 I.2.03 //{ NUC6, {6, { 46, 37, 0.8}, 0.00, 2.500, 3.0f} }, // NUC 6 I.2.03
{ NUC7, {7, { 27, 45, 0.8}, 0.00, 2.500, 3.0f} }, // NUC 7 I.2.28 //{ NUC7, {7, { 27, 45, 0.8}, 0.00, 2.500, 3.0f} }, // NUC 7 I.2.28
{ NUC8, {8, { 16, 36, 0.8}, 0.00, 2.500, 3.0f} }, // NUC 8 I.2.10 //{ NUC8, {8, { 16, 36, 0.8}, 0.00, 2.500, 3.0f} }, // NUC 8 I.2.10
/*NUC1 x = "67" y = "33"
NUC2 x = "27" y = "49.600002"
NUC3 x = "15" y = "32.400002"
NUC4 x = "14.6" y = "4.4000001"
NUC5 x = "52.200001" y = "49.5"
NUC6 x = "39" y = "33"
NUC7 x = "5" y = "49.799999"
NUC8 x = "2" y = "21.5"*/
{ NUC1, {1, { 67 , 33 , 0.8}, -2.00, 3.000, 3.0f} }, // NUC 1
{ NUC2, {2, { 27 , 49.6, 0.8}, -2.00, 3.000, 3.0f} }, // NUC 2
{ NUC3, {3, { 15 , 32.4, 0.8}, -2.00, 3.000, 3.0f} }, // NUC 3
{ NUC4, {4, { 14.6, 4.4, 0.8}, -2.00, 3.000, 3.0f} }, // NUC 4
{ NUC5, {5, { 52.2, 49.5, 0.8}, -2.00, 3.000, 3.0f} }, // NUC 5
{ NUC6, {6, { 38 , 33 , 0.8}, -2.00, 3.000, 3.0f} }, // NUC 6 im Juschi Lab
//{ NUC6, {6, { 38.1, 40 , 0.8}, 0.00, 3.000, 3.0f} }, // NUC 6 aufn Gang
//{ NUC6, {6, { 38 , 33 , 3.4+0.8}, -2.00, 3.000, 3.0f} }, // NUC 6 3OG
{ NUC7, {7, { 5 , 49.8, 0.8}, -2.00, 3.000, 3.0f} }, // NUC 7
{ NUC8, {8, { 2 , 21.5, 0.8}, -2.00, 3.000, 3.0f} }, // NUC 8
}, },
{ 100, 101, 102, 103, 104, 105, 104, 103, 102, 101, 100 }, { 100, 101, 102, 103, 104, 105, 104, 103, 102, 101, 100 },
true true
@@ -347,6 +373,6 @@ namespace Settings {
} data; } data;
static DataSetup CurrentPath = data.Path10; static DataSetup CurrentPath = data.Path11;
} }

2
code/filter.h
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@@ -183,7 +183,7 @@ struct MyPFTransRandom : public SMC::ParticleFilterTransition<MyState, MyControl
Distribution::Uniform<float> dHeading; Distribution::Uniform<float> dHeading;
MyPFTransRandom() MyPFTransRandom()
: dStepSize(1.5f, 0.2f), dHeading(0, 2*M_PI) : dStepSize(0.7f, 0.5f), dHeading(0, 2*M_PI)
{} {}
void transition(std::vector<SMC::Particle<MyState>>& particles, const MyControl* control) override { void transition(std::vector<SMC::Particle<MyState>>& particles, const MyControl* control) override {