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began putting everything together

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This commit is contained in:
FrankE
2016-01-28 21:49:36 +01:00
parent 07d739ebb7
commit 41713a5d47
30 changed files with 1446 additions and 279 deletions
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6
code/frank/BeaconEvaluation.h
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@@ -39,10 +39,12 @@ public:
if (!beacon) {continue;}
// distance (in meter) between particle and AP
const double distToBeacon_m = state.getDistance2D(beacon->xCM, beacon->yCM) / 100.0;
//const double distToBeacon_m = state.getDistance2D(beacon->xCM, beacon->yCM) / 100.0;
const double distToBeacon_m = state.pCur.getDistance(Point3(beacon->x, beacon->y, beacon->z)) / 100.0;
// floor difference?
const double floorDist = std::abs(beacon->zNr - state.z_nr);
//const double floorDist = std::abs(beacon->zNr - state.getFloorNr());
const float floorDist = std::round(std::abs(Helper::getFloorNrFloat(beacon->z) - Helper::getFloorNrFloat(state.pCur.z)));
// estimate the rssi depending on above distance
const double mdlRSSI = distanceToRssi(beacon->tx, distToBeacon_m, beacon->pl) - (floorDist * waf);

2
code/frank/BeaconSensorReader.h
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@@ -1,7 +1,7 @@
#ifndef BEACONSENSORREADER_H
#define BEACONSENSORREADER_H
#include "../SensorReader.h"
#include "../reader/SensorReader.h"
#include "BeaconObservation.h"
#include "Settings.h"
#include <cassert>

19
code/frank/PositionedBeacon.h
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@@ -2,19 +2,26 @@
#define POSITIONEDBEACON_H
#include "WiFiAP.h"
#include "Position3D.h"
//#include "Position3D.h"
#include <Indoor/geo/Point3.h>
class PositionedBeacon : public Position3D {
class PositionedBeacon : public Point3 {
public:
MACAddress mac;
double tx;
double pl;
float tx;
float pl;
// /** ctor */
// PositionedBeacon(const MACAddress& mac, const double tx, const double pl, const double xM, const double yM, const int zNr) :
// mac(mac), tx(tx), pl(pl), Position3D(xM, yM, zNr) {
// ;
// }
/** ctor */
PositionedBeacon(const MACAddress& mac, const double tx, const double pl, const double xM, const double yM, const int zNr) :
mac(mac), tx(tx), pl(pl), Position3D(xM, yM, zNr) {
PositionedBeacon(const MACAddress& mac, const float tx, const float pl, const float x_cm, const float y_cm, const float z_cm) :
mac(mac), tx(tx), pl(pl), Point3(x_cm, y_cm, z_cm) {
;
}

16
code/frank/PositionedWiFiAP.h
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@@ -2,16 +2,22 @@
#define POSITIONEDWIFIAP_H
#include "WiFiAP.h"
#include "Position3D.h"
//#include "Position3D.h"
#include <Indoor/geo/Point3.h>
class PositionedWifiAP : public WiFiAP, public Position3D {
class PositionedWifiAP : public WiFiAP, public Point3 {
public:
// /** ctor */
// PositionedWifiAP(const MACAddress& mac, const std::string& ssid, const double tx, const double pl, const double xM, const double yM, const int zNr) :
// WiFiAP(mac, ssid, tx, pl), Position3D(xM, yM, zNr) {
// ;
// }
/** ctor */
PositionedWifiAP(const MACAddress& mac, const std::string& ssid, const double tx, const double pl, const double xM, const double yM, const int zNr) :
WiFiAP(mac, ssid, tx, pl), Position3D(xM, yM, zNr) {
PositionedWifiAP(const MACAddress& mac, const std::string& ssid, const float tx, const float pl, const float x_cm, const float y_cm, const float z_cm) :
WiFiAP(mac, ssid, tx, pl), Point3(x_cm, y_cm, z_cm) {
;
}

66
code/frank/Settings.h
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@@ -7,6 +7,8 @@
#include <unordered_map>
#include "../Helper.h"
class Settings {
private:
@@ -21,49 +23,49 @@ public:
const double pl = 2.7;
const double tx = -46;
addAP(("00:04:96:6b:64:99"), "i.3.20", 290, 1300, 3, tx, pl-0.5);
addAP(("00:04:96:6b:70:c9"), "i.3.25", 290, 3930, 3, tx, pl-0.5);
addAP(("00:04:96:6b:82:79"), "i.3.16", 1860, 3400, 3, tx, pl-0.5);
addAP(("00:04:96:77:ed:f9"), "i.3.39", 4700, 4850, 3, tx, pl);
addAP(("00:04:96:77:ed:69"), "i.3.3", 6460, 3400, 3, tx, pl);
addAP(("00:04:96:6b:64:99"), "i.3.20", 290, 1300, Helper::getHeight(3), tx, pl-0.5);
addAP(("00:04:96:6b:70:c9"), "i.3.25", 290, 3930, Helper::getHeight(3), tx, pl-0.5);
addAP(("00:04:96:6b:82:79"), "i.3.16", 1860, 3400, Helper::getHeight(3), tx, pl-0.5);
addAP(("00:04:96:77:ed:f9"), "i.3.39", 4700, 4850, Helper::getHeight(3), tx, pl);
addAP(("00:04:96:77:ed:69"), "i.3.3", 6460, 3400, Helper::getHeight(3), tx, pl);
// 2nd floor (vague AP position)
addAP(("00:04:96:6c:3a:a9"), "I.2.1", 6750, 3350, 2, tx, pl-0.5);
addAP(("00:04:96:6b:bf:f9"), "I.2.9", 3000, 3350, 2, tx, pl);
addAP(("00:04:96:77:ec:a9"), "I.2.15", 290, 750, 2, tx, pl);
addAP(("00:04:96:6b:0c:c9"), "I.2.19", 300, 4000, 2, tx, pl-0.5);
addAP(("00:04:96:6b:db:69"), "I.2.34", 4320, 4780, 2, tx, pl-0.5);
addAP(("00:04:96:6c:3a:a9"), "I.2.1", 6750, 3350, Helper::getHeight(2), tx, pl-0.5);
addAP(("00:04:96:6b:bf:f9"), "I.2.9", 3000, 3350, Helper::getHeight(2), tx, pl);
addAP(("00:04:96:77:ec:a9"), "I.2.15", 290, 750, Helper::getHeight(2), tx, pl);
addAP(("00:04:96:6b:0c:c9"), "I.2.19", 300, 4000, Helper::getHeight(2), tx, pl-0.5);
addAP(("00:04:96:6b:db:69"), "I.2.34", 4320, 4780, Helper::getHeight(2), tx, pl-0.5);
// 1st floor (vague AP position)
addAP(("00:04:96:6c:cf:19"), "I.1.2", 6150, 3420, 1, tx, pl);
addAP(("00:04:96:7d:07:79"), "I.1.9", 1800, 3300, 1, tx, pl);
addAP(("00:04:96:69:48:c9"), "I.1.17", 1500, 300, 1, tx, pl-0.25);
addAP(("00:04:96:77:eb:99"), "I.1.21", 500, 1700, 1, tx, pl-0.25);
addAP(("00:04:96:6b:45:59"), "I.1.30", 800, 4800, 1, tx, pl);
addAP(("00:04:96:77:ed:89"), "I.1.43", 4600, 4800, 1, tx, pl);
addAP(("00:04:96:6c:cf:19"), "I.1.2", 6150, 3420, Helper::getHeight(1), tx, pl);
addAP(("00:04:96:7d:07:79"), "I.1.9", 1800, 3300, Helper::getHeight(1), tx, pl);
addAP(("00:04:96:69:48:c9"), "I.1.17", 1500, 300, Helper::getHeight(1), tx, pl-0.25);
addAP(("00:04:96:77:eb:99"), "I.1.21", 500, 1700, Helper::getHeight(1), tx, pl-0.25);
addAP(("00:04:96:6b:45:59"), "I.1.30", 800, 4800, Helper::getHeight(1), tx, pl);
addAP(("00:04:96:77:ed:89"), "I.1.43", 4600, 4800, Helper::getHeight(1), tx, pl);
// 0th floor (exact AP position)
addAP(("00:04:96:6C:6E:F9"), "I.0.27", 530, 4970, 0, tx, pl);
addAP(("00:04:96:6C:A5:39"), "I.0.17", 1030, 270, 0, tx, pl);
addAP(("00:04:96:6C:A4:A9"), "I.0.9", 1660, 2780, 0, tx, pl);
addAP(("00:04:96:77:EE:69"), "I.0.7", 3560, 3380, 0, tx, pl);
addAP(("00:04:96:6B:46:09"), "I.0.xx", 6860, 3690, 0, tx, pl);
addAP(("00:04:96:6C:5E:39"), "I.0.36", 4480, 4800, 0, tx, pl); // vague!!
addAP(("00:04:96:6C:6E:F9"), "I.0.27", 530, 4970, Helper::getHeight(0), tx, pl);
addAP(("00:04:96:6C:A5:39"), "I.0.17", 1030, 270, Helper::getHeight(0), tx, pl);
addAP(("00:04:96:6C:A4:A9"), "I.0.9", 1660, 2780, Helper::getHeight(0), tx, pl);
addAP(("00:04:96:77:EE:69"), "I.0.7", 3560, 3380, Helper::getHeight(0), tx, pl);
addAP(("00:04:96:6B:46:09"), "I.0.xx", 6860, 3690, Helper::getHeight(0), tx, pl);
addAP(("00:04:96:6C:5E:39"), "I.0.36", 4480, 4800, Helper::getHeight(0), tx, pl); // vague!!
const int ibOff = +2;
const float ibPLE = 1.9;
addBeacon("78:A5:04:1F:87:64", -71+ibOff, ibPLE, 1088, 4858, 3); // id:16
addBeacon("78:A5:04:1F:8A:59", -65+4, 2.0, 1088, 4858, 2); // id:18
addBeacon("1C:BA:8C:21:71:70", -71+ibOff, ibPLE, 1088, 4858, 1); // id:11
addBeacon("78:A5:04:1F:88:9F", -71+ibOff, ibPLE, 1088, 4858, 0); // id:20
addBeacon("78:A5:04:1F:87:64", -71+ibOff, ibPLE, 1088, 4858, Helper::getHeight(3)); // id:16
addBeacon("78:A5:04:1F:8A:59", -65+4, 2.0, 1088, 4858, Helper::getHeight(2)); // id:18
addBeacon("1C:BA:8C:21:71:70", -71+ibOff, ibPLE, 1088, 4858, Helper::getHeight(1)); // id:11
addBeacon("78:A5:04:1F:88:9F", -71+ibOff, ibPLE, 1088, 4858, Helper::getHeight(0)); // id:20
addBeacon("F9:CC:C0:A2:02:17", -77+ibOff, ibPLE, 7068, 4518, 2); // idis switchboard
addBeacon("E5:6F:57:34:94:40", -77+ibOff, ibPLE, 7468, 5108, 2); // idis outside
addBeacon("C6:FC:6E:25:F5:29", -77+ibOff, ibPLE, 6115, 4527, 2); // idis toni
addBeacon("F9:CC:C0:A2:02:17", -77+ibOff, ibPLE, 7068, 4518, Helper::getHeight(2)); // idis switchboard
addBeacon("E5:6F:57:34:94:40", -77+ibOff, ibPLE, 7468, 5108, Helper::getHeight(2)); // idis outside
addBeacon("C6:FC:6E:25:F5:29", -77+ibOff, ibPLE, 6115, 4527, Helper::getHeight(2)); // idis toni
addBeacon("78:A5:04:1E:B1:50", -88+ibOff-4, ibPLE, 6108, 4528, 1); // i.1.47
addBeacon("78:A5:04:1F:91:41", -88+ibOff-4, ibPLE, 6508, 4038, 1); // fachschaft
addBeacon("78:A5:04:1F:8E:35", -88+ibOff-4, ibPLE, 6313, 4038, 1); // neben fachschaft
addBeacon("78:A5:04:1E:B1:50", -88+ibOff-4, ibPLE, 6108, 4528, Helper::getHeight(1)); // i.1.47
addBeacon("78:A5:04:1F:91:41", -88+ibOff-4, ibPLE, 6508, 4038, Helper::getHeight(1)); // fachschaft
addBeacon("78:A5:04:1F:8E:35", -88+ibOff-4, ibPLE, 6313, 4038, Helper::getHeight(1)); // neben fachschaft
// addBeacon("00:07:80:78:F7:B3", -82, ibPLE, 1038, 4018, 3);
// addBeacon("78:A5:04:1F:93:02", -88, ibPLE, 1538, 4038, 3);

23
code/frank/WiFiEvaluation.h
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@@ -37,14 +37,14 @@ public:
//const double tx = -48; // tablet
//const double pl = 3.15;
const double waf = 7;//10.0;
const double floor_height_cm = 350;
const float waf = 7;//10.0; // was 7 before?! has something todo with the floor heights / levels
// const int floor_height_cm = 350;
// get the ap the client had the strongest measurement for
const PositionedWifiAP* relAP = settings.getAP(strongest.mac); assert(relAP);
const double distToStrongest_m = state.getDistance2D(relAP->xCM, relAP->yCM) / 100.0;
const double strongestFloorDist = std::abs(relAP->zNr - state.z_nr);
const double mdlStrongestRSSI = distanceToRssi(relAP->tx, distToStrongest_m, relAP->pl) - (strongestFloorDist * waf);
//const double distToStrongest_m = state.getDistance2D(relAP->xCM, relAP->yCM) / 100.0;
//const double strongestFloorDist = std::abs(relAP->zNr - state.z_nr);
//const double mdlStrongestRSSI = distanceToRssi(relAP->tx, distToStrongest_m, relAP->pl) - (strongestFloorDist * waf);
// process each detected AP
for (const WiFiObservationEntry& entry : obs.entries) {
@@ -53,20 +53,23 @@ public:
const PositionedWifiAP* ap = settings.getAP(entry.mac); assert(ap);
// distance (in meter) between particle and AP
const double distToAP_m = state.getDistance3D(ap->xCM, ap->yCM, floor_height_cm) / 100.0;
//const double distToAP_m = state.getDistance3D(ap->xCM, ap->yCM, floor_height_cm) / 100.0;
const float distToAP_m = state.pCur.getDistance(Point3(ap->x, ap->y, ap->z)) / 100.0;
// floor difference?
const double floorDist = std::abs(ap->zNr - state.z_nr);
const float floorDiff = std::round(
std::abs(Helper::getFloorNr(ap->z) - Helper::getFloorNr(state.pCur.z))
);
// estimate the rssi depending on above distance
const double mdlRSSI = distanceToRssi(ap->tx, distToAP_m, ap->pl) - (floorDist * waf);
const double mdlRSSI = distanceToRssi(ap->tx, distToAP_m, ap->pl) - (floorDiff * waf);
// the measured rssi
const double realRSSI = entry.rssi;
// the measured relative rssi
const double realRelRSSI = strongest.rssi - realRSSI;
const double mdlRelRSSI = mdlStrongestRSSI - mdlRSSI;
//const double realRelRSSI = strongest.rssi - realRSSI;
//const double mdlRelRSSI = mdlStrongestRSSI - mdlRSSI;
// probability? (sigma grows with measurement's age)
const double sigma = 8 + ((observation.latestSensorDataTS - entry.ts) / 1000.0) * 3.0;

2
code/frank/WiFiSensorReader.h
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@@ -1,7 +1,7 @@
#ifndef WIFISENSORREADER_H
#define WIFISENSORREADER_H
#include "../SensorReader.h"
#include "../reader/SensorReader.h"
#include "WiFiObservation.h"
#include <cassert>