FHWS/Fusion2016
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began putting everything together

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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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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;