FHWS/Fusion2016
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started working on the tex-part

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started working on eval-graphics
ned helper methods
tested some new aspects
some fixes and changes
added some graphics
new test-floorplan
many cleanups
This commit is contained in:
FrankE
2016-02-03 21:17:15 +01:00
parent 8a57b4cdbd
commit c5a5acbbf6
40 changed files with 69163 additions and 275 deletions
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4
code/frank/BeaconEvaluation.h
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@@ -44,7 +44,7 @@ public:
// floor difference?
//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)));
const float floorDist = std::ceil(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);
@@ -57,7 +57,7 @@ public:
// const double mdlRelRSSI = mdlStrongestRSSI - mdlRSSI;
// probability? (sigma grows with measurement's age)
const double sigma = 8 + ((observation.latestSensorDataTS - entry.ts) / 1000.0) * 2.0;
const double sigma = 8 + ((observation.latestSensorDataTS - entry.ts) / 1000.0) * 3.0;
const double p = K::NormalDistribution::getProbability(mdlRSSI, sigma, realRSSI);
//const double p = K::NormalDistribution::getProbability(mdlRelRSSI, sigma, realRelRSSI);

71
code/frank/Settings.h
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@@ -25,7 +25,7 @@ public:
addAP(("00:04:96:6b:64:99"), "i.3.20", 290, 1300, Helper::getHeight(3), tx, pl);
addAP(("00:04:96:6b:70:c9"), "i.3.25", 290, 3930, Helper::getHeight(3), tx, pl);
addAP(("00:04:96:6b:82:79"), "i.3.16", 1860, 3400, Helper::getHeight(3), tx, pl-1);
addAP(("00:04:96:6b:82:79"), "i.3.16", 1860, 3400, Helper::getHeight(3), tx, pl);
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);
@@ -52,25 +52,62 @@ public:
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, 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, 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, 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
// OLD
// addBeacon("00:07:80:78:F7:B3", -82, ibPLE, 1038, 4018, 3);
// addBeacon("78:A5:04:1F:93:02", -88, ibPLE, 1538, 4038, 3);
addBeacon("78:A5:04:1F:91:08", -88, ibPLE, 1448, 4538, 3);
addBeacon("78:A5:04:1F:93:02", -88, ibPLE, 2028, 4528, 3);
// const double pl = 2.7; // 2.7
// const double tx = -46;
// addAP(("00:04:96:6b:64:99"), "i.3.20", 290, 1300, Helper::getHeight(3), tx, pl-1);
// addAP(("00:04:96:6b:70:c9"), "i.3.25", 290, 3930, Helper::getHeight(3), tx, pl);
// addAP(("00:04:96:6b:82:79"), "i.3.16", 1860, 3400, Helper::getHeight(3), tx, pl-1);
// 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, Helper::getHeight(2), tx, pl);
// 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);
// addAP(("00:04:96:6b:db:69"), "I.2.34", 4320, 4780, Helper::getHeight(2), tx, pl);
// // 1st floor (vague AP position)
// 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);
// addAP(("00:04:96:77:eb:99"), "I.1.21", 500, 1700, Helper::getHeight(1), tx, pl);
// 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, 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, 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, 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, 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);
// addBeacon("78:A5:04:1F:91:08", -88, ibPLE, 1448, 4538, 3);
// addBeacon("78:A5:04:1F:93:02", -88, ibPLE, 2028, 4528, 3);
}

20
code/frank/WiFiEvaluation.h
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@@ -37,7 +37,7 @@ public:
//const double tx = -48; // tablet
//const double pl = 3.15;
const float waf = 7;//10.0; // was 7 before?! has something todo with the floor heights / levels
const float waf = 8;//10.0; // was 7 before?! has something todo with the floor heights / levels
// get the ap the client had the strongest measurement for
//const PositionedWifiAP* relAP = settings.getAP(strongest.mac); assert(relAP);
@@ -55,9 +55,9 @@ public:
const float distToAP_m = state.pCur.getDistance(*ap) / 100.0;
// floor difference?
const float floorDiff = //std::ceil(
std::abs(Helper::getFloorNrFloat(ap->z) - Helper::getFloorNrFloat(state.pCur.z));
//);
const float floorDiff = std::abs(Helper::getFloorNrFloat(ap->z) - Helper::getFloorNrFloat(state.pCur.z));
//const float floorDiff = std::round(std::abs(Helper::getFloorNr(ap->z) - Helper::getFloorNr(state.pCur.z)));
//const float floorDiff = std::abs(ap->z - state.pCur.z) / 340;
// estimate the rssi depending on above distance
@@ -71,7 +71,7 @@ public:
//const double mdlRelRSSI = mdlStrongestRSSI - mdlRSSI;
// probability? (sigma grows with measurement's age)
const double sigma = 8 + ((observation.latestSensorDataTS - entry.ts) / 1000.0) * 3.0;
const double sigma = (8) + ((observation.latestSensorDataTS - entry.ts) / 1000.0) * 3.5;
const double p = K::NormalDistribution::getProbability(mdlRSSI, sigma, realRSSI); // absolute
//const double p = K::NormalDistribution::getProbability(mdlRelRSSI, sigma, realRelRSSI); // relative
@@ -80,8 +80,14 @@ public:
}
const double lambda = 0.25; //0.12;
return lambda * exp(- lambda * (-prob));
//const double lambda = 0.05;//0.15; //0.12;
//return lambda * exp(- lambda * (-prob));
return std::pow(std::exp(prob), 0.1);
// if (prob < -30) {return 0.01;}
// if (prob < -15) {return 0.50;}
// else {return 1.00;}
//return prob;
}